autoware_probabilistic_occupancy_grid_map

Purpose

This package outputs the probability of having an obstacle as occupancy grid map.

References/External links

• Pointcloud based occupancy grid map
• Laserscan based occupancy grid map
• Grid map fusion

Settings

Occupancy grid map is generated on map_frame, and grid orientation is fixed.

You may need to choose scan_origin_frame and gridmap_origin_frame which means sensor origin and gridmap origin respectively. Especially, set your main LiDAR sensor frame (e.g. velodyne_top in sample_vehicle) as a scan_origin_frame would result in better performance.

Parameters

• binary bayes filter updater

  {{ json_to_markdown(“perception/autoware_probabilistic_occupancy_grid_map/schema/binary_bayes_filter_updater.schema.json”) }}

• grid map

  {{ json_to_markdown(“perception/autoware_probabilistic_occupancy_grid_map/schema/grid_map.schema.json”) }}

• laserscan based occupancy grid map

  {{ json_to_markdown(“perception/autoware_probabilistic_occupancy_grid_map/schema/laserscan_based_occupancy_grid_map.schema.json”) }}

• multi lidar pointcloud based occupancy grid map

  {{ json_to_markdown(“perception/autoware_probabilistic_occupancy_grid_map/schema/multi_lidar_pointcloud_based_occupancy_grid_map.schema.json”) }}

• pointcloud based occupancy grid map

  {{ json_to_markdown(“perception/autoware_probabilistic_occupancy_grid_map/schema/pointcloud_based_occupancy_grid_map.schema.json”) }}

• synchronized grid map fusion

  {{ json_to_markdown(“perception/autoware_probabilistic_occupancy_grid_map/schema/synchronized_grid_map_fusion_node.schema.json”) }}

Downsample input pointcloud(Optional)

If you set downsample_input_pointcloud to true, the input pointcloud will be downsampled and following topics are also used. This feature is currently only for the pointcloud based occupancy grid map.

• pointcloud_based_occupancy_grid_map method

# downsampled raw and obstacle pointcloud
/perception/occupancy_grid_map/obstacle/downsample/pointcloud
/perception/occupancy_grid_map/raw/downsample/pointcloud

• multi_lidar_pointcloud_based_point_cloud

# downsampled raw and obstacle pointcloud
/perception/occupancy_grid_map/obstacle/downsample/pointcloud
/perception/occupancy_grid_map/<sensor_name>/raw/downsample/pointcloud

Test

This package provides unit tests using gtest. You can run the test by the following command.

colcon test --packages-select autoware_probabilistic_occupancy_grid_map --event-handlers console_direct+

Test contains the following.

• Unit test for cost value conversion function
• Unit test for utility functions
• Unit test for occupancy grid map fusion functions
• Input/Output test for pointcloud based occupancy grid map

Changelog for package autoware_probabilistic_occupancy_grid_map

0.46.0 (2025-06-20)

0.45.0 (2025-05-22)

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

• feat(autoware_probabilistic_occupancy_grid_map): added target architectures for the ogm (#10614)

  • chore: added target architectures for the ogm

  * chore: mistook the compute capabilities of edge devices ---------

• 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 ---------

• fix(probabilistic_occupancy_grid_map): add missing parameter for multi-lidar (#10578) add new parameter for multi-lidar

• fix(autoware_probabilistic_occupancy_grid_map): fix to avoid division by zero (#10599)

• fix(autoware_probabilistic_occupancy_grid_map): incorrect placement of updateOrigin init call check (#10565)

• fix(autoware_probabilistic_occupancy_grid_map): skipped first iteration (#10558) fix: the first iteration fails due to how the algorithm is designed (the delta between poses is too high). However, the first iteration of the update routine is actually not needed in the first iteration, so I skipped it

• Contributors: Amadeusz Szymko, Kento Yabuuchi, Kenzo Lobos Tsunekawa, Taekjin LEE, TaikiYamada4, Tomohito ANDO

0.44.2 (2025-06-10)

0.44.1 (2025-05-01)

0.44.0 (2025-04-18)

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

• feat(probabilistic_occupancy_grid_map): add diagnostics warning when latency is too long (#10280)

  • feat(probabilistic_occupancy_grid_map): add diagnostics warning when latency is too long
  • feat(probabilistic_occupancy_grid_map): add default max_output_delay_ms_
  • style(pre-commit): autofix
  • feat(probabilistic_occupancy_grid_map): fix reading parameters and add schema
  • style(pre-commit): autofix
  • feat(probabilistic_occupancy_grid_map):1. add tolerance duration 2. change to process time
  • feat(probabilistic_occupancy_grid_map): modification since it is clear that the target isprocess time

  * style(pre-commit): autofix ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>

• fix(autoware_probabilistic_occupancy_grid_map): fixed transform issues and border conditions (#10344)

  • fix: fixed transform issues and border conditions

  * fix: fixed compilation on cpu only builds ---------

• Contributors: Kenzo Lobos Tsunekawa, Ryohsuke Mitsudome, lei.gu

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

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