autoware_lidar_apollo_instance_segmentation

Purpose

This node segments 3D pointcloud data from lidar sensors into obstacles, e.g., cars, trucks, bicycles, and pedestrians based on CNN based model and obstacle clustering method.

Inner-workings / Algorithms

See the original design by Apollo.

Inputs / Outputs

Input

Output

Parameters

{{ json_to_markdown(“perception/autoware_lidar_apollo_instance_segmentation/schema/hdl-64.schema.json”) }}

{{ json_to_markdown(“perception/autoware_lidar_apollo_instance_segmentation/schema/vlp-16.schema.json”) }}

{{ json_to_markdown(“perception/autoware_lidar_apollo_instance_segmentation/schema/vls-128.schema.json”) }}

Assumptions / Known limits

There is no training code for CNN model.

Note

This package makes use of three external codes. The trained files are provided by apollo. The trained files are automatically downloaded when you build.

Original URL

• VLP-16 : https://github.com/ApolloAuto/apollo/raw/88bfa5a1acbd20092963d6057f3a922f3939a183/modules/perception/production/data/perception/lidar/models/cnnseg/velodyne16/deploy.caffemodel
• HDL-64 : https://github.com/ApolloAuto/apollo/raw/88bfa5a1acbd20092963d6057f3a922f3939a183/modules/perception/production/data/perception/lidar/models/cnnseg/velodyne64/deploy.caffemodel
• VLS-128 : https://github.com/ApolloAuto/apollo/raw/91844c80ee4bd0cc838b4de4c625852363c258b5/modules/perception/production/data/perception/lidar/models/cnnseg/velodyne128/deploy.caffemodel

Supported lidars are velodyne 16, 64 and 128, but you can also use velodyne 32 and other lidars with good accuracy.

1. apollo 3D Obstacle Perception description

   /******************************************************************************
   * Copyright 2017 The Apollo Authors. All Rights Reserved.
   *
   * Licensed under the Apache License, Version 2.0 (the "License");
   * you may not use this file except in compliance with the License.
   * You may obtain a copy of the License at
   *
   * http://www.apache.org/licenses/LICENSE-2.0
   *
   * Unless required by applicable law or agreed to in writing, software
   * distributed under the License is distributed on an "AS IS" BASIS,
   * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
   * See the License for the specific language governing permissions and
   * limitations under the License.
   *****************************************************************************/
   

1. tensorRTWrapper : It is used under the lib directory.

```txt MIT License

Copyright (c) 2018 lewes6369

Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files (the “Software”), to deal in the Software without restriction, including without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is furnished to do so, subject to the following conditions:

The above copyright notice and this permission notice shall be included in all copies or substantial portions of the Software.

THE SOFTWARE IS PROVIDED “AS IS”, WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE

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Changelog for package autoware_lidar_apollo_instance_segmentation

0.48.0 (2025-11-18)

• Merge remote-tracking branch 'origin/main' into humble

• refactor(autoware_lidar_apollo_instance_segmentation): refactor launch and parameter (#11405) refactor params

• fix(autoware_lidar_apollo_instance_segmentation): remove invalid key and change variable int to double (#11396)

  • remove invalid key and change variable int to double
  • change type to int

  * update schema ---------

• fix(lidar_apollo_instance_segmentation): revert apollo parameter pr 10097 (#11357)

  * Revert "feat(autoware_lidar_apollo_instance_segmentation): created the schema file, updated the readme file and deleted the default parameter in node files (#10097)" This reverts commit dcb9739b5c684afaede1f164f259b7364a7c32cf.

  • feat(autoware_lidar_apollo_instance_segmentation): created the schema file, updated the readme file and deleted the default parameter in node files (#10097)
  • feat(autoware_lidar_apollo_instance_segmentation): Created the schema file, updated the readme file and deleted the default parameter in node files
  • style(pre-commit): autofix
  • Update hdl-64.schema.json
  • Update vlp-16.schema.json
  • Update vls-128.schema.json
  • Update hdl-64.param.yaml
  • Update vlp-16.param.yaml
  • Update vls-128.param.yaml
  • style(pre-commit): autofix
  • style(pre-commit): autofix
  • style(pre-commit): autofix
  • fix(apollo_instance_segmentation): nest params under lidar_instance_segmentation; remove stray pipe

  * fix(apollo_instance_segmentation): nest params under lidar_instance_segmentation for schema compliance ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Taekjin LEE <<taekjin.lee@tier4.jp>> ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>

• feat(autoware_lidar_apollo_instance_segmentation): created the schema file, updated the readme file and deleted the default parameter in node files (#10097)

  • feat(autoware_lidar_apollo_instance_segmentation): Created the schema file, updated the readme file and deleted the default parameter in node files
  • style(pre-commit): autofix
  • Update hdl-64.schema.json
  • Update vlp-16.schema.json
  • Update vls-128.schema.json
  • Update hdl-64.param.yaml
  • Update vlp-16.param.yaml
  • Update vls-128.param.yaml
  • style(pre-commit): autofix
  • style(pre-commit): autofix
  • style(pre-commit): autofix
  • fix(apollo_instance_segmentation): nest params under lidar_instance_segmentation; remove stray pipe

  * fix(apollo_instance_segmentation): nest params under lidar_instance_segmentation for schema compliance ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Taekjin LEE <<taekjin.lee@tier4.jp>>

• Contributors: Masato Saeki, Ryohsuke Mitsudome, Taekjin LEE, Vishal Chauhan

0.47.1 (2025-08-14)

0.47.0 (2025-08-11)

0.46.0 (2025-06-20)

0.45.0 (2025-05-22)

• Merge remote-tracking branch 'origin/main' into tmp/notbot/bump_version_base

• chore: perception code owner update

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