autoware_occupancy_grid_map_outlier_filter

Purpose

This node is an outlier filter based on a occupancy grid map. Depending on the implementation of occupancy grid map, it can be called an outlier filter in time series, since the occupancy grid map expresses the occupancy probabilities in time series.

Inner-workings / Algorithms

1. Use the occupancy grid map to separate point clouds into those with low occupancy probability and those with high occupancy probability.

2. The point clouds that belong to the low occupancy probability are not necessarily outliers. In particular, the top of the moving object tends to belong to the low occupancy probability. Therefore, if use_radius_search_2d_filter is true, then apply an radius search 2d outlier filter to the point cloud that is determined to have a low occupancy probability.

   1. For each low occupancy probability point, determine the outlier from the radius (radius_search_2d_filter/search_radius) and the number of point clouds. In this case, the point cloud to be referenced is not only low occupancy probability points, but all point cloud including high occupancy probability points.
   2. The number of point clouds can be multiplied by radius_search_2d_filter/min_points_and_distance_ratio and distance from base link. However, the minimum and maximum number of point clouds is limited.

The following video is a sample. Yellow points are high occupancy probability, green points are low occupancy probability which is not an outlier, and red points are outliers. At around 0:15 and 1:16 in the first video, a bird crosses the road, but it is considered as an outlier.

• movie1
• movie2

Inputs / Outputs

Input

Output

Parameters

{{ json_to_markdown(“perception/autoware_occupancy_grid_map_outlier_filter/schema/occupancy_grid_map_outlier_filter.schema.json”) }}

Assumptions / Known limits

(Optional) Error detection and handling

(Optional) Performance characterization

(Optional) References/External links

(Optional) Future extensions / Unimplemented parts

Changelog for package autoware_occupancy_grid_map_outlier_filter

0.46.0 (2025-06-20)

• Merge remote-tracking branch 'upstream/main' into tmp/TaikiYamada/bump_version_base
• feat(autoware_occupancy_grid_map_outlier_filter): updated the readme file and json schema for running mkdocs server functionally (#10192) feat(autoware_occupancy_grid_map_outlier_filter): upadted the readme file and json schema for running mkdocs server functionally Co-authored-by: Takagi, Isamu <<43976882+isamu-takagi@users.noreply.github.com>>
• Contributors: TaikiYamada4, Vishal Chauhan

0.45.0 (2025-05-22)

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

• chore: perception code owner update (#10645)

  • chore: update maintainers in multiple perception packages

  * Revert "chore: update maintainers in multiple perception packages" This reverts commit f2838c33d6cd82bd032039e2a12b9cb8ba6eb584.

  • chore: update maintainers in multiple perception packages

  * chore: add Kok Seang Tan as maintainer in multiple perception packages ---------

• Contributors: Taekjin LEE, TaikiYamada4

0.44.2 (2025-06-10)

0.44.1 (2025-05-01)

0.44.0 (2025-04-18)

0.43.0 (2025-03-21)

• Merge remote-tracking branch 'origin/main' into chore/bump-version-0.43
• chore: rename from [autoware.universe]{.title-ref} to [autoware_universe]{.title-ref} (#10306)
• Contributors: Hayato Mizushima, Yutaka Kondo

0.42.0 (2025-03-03)

• Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base
• feat(autoware_utils): replace autoware_universe_utils with autoware_utils (#10191)
• Contributors: Fumiya Watanabe, 心刚

0.41.2 (2025-02-19)

• chore: bump version to 0.41.1 (#10088)
• Contributors: Ryohsuke Mitsudome

0.41.1 (2025-02-10)

0.41.0 (2025-01-29)

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

• feat(autoware_occupancy_grid_map_outlier_filter): tier4_debug_msgs changed to autoware_internal_debug_msgs in fil… (#9894) feat: tier4_debug_msgs changed to autoware_internal_debug_msgs in files perception/autoware_occupancy_grid_map_outlier_filter Co-authored-by: Ryohsuke Mitsudome <<43976834+mitsudome-r@users.noreply.github.com>>

• fix(perception): fix perception docs (#9766)

  • fix: fix perception docs
  • fix: fix missing parameter in schema

  * Update perception/autoware_object_merger/schema/data_association_matrix.schema.json Co-authored-by: Taekjin LEE <<technolojin@gmail.com>>

  * Update perception/autoware_object_merger/schema/data_association_matrix.schema.json Co-authored-by: Taekjin LEE <<technolojin@gmail.com>>

  * Update perception/autoware_object_merger/schema/data_association_matrix.schema.json Co-authored-by: Taekjin LEE <<technolojin@gmail.com>>

  * Update

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