Autoware Architecture WG Meeting (perception) 2022/05/18

[mitsudome-r]

Participants

Chaired by Ryohsuke

Goal of this WG

• https://docs.google.com/presentation/d/1AhuCcScktgBwJreAjDspyf2OcKTNFbK-fFI1QT9NRLg/edit?usp=sharing
• Wiki: https://github.com/autowarefoundation/autoware-projects/wiki/Autoware-Architecture-Working-Group

Discussion Topics:

Review Perception Interface Design

• Reference: bag file to try autoware software-suites #3
• Current output of perception:
  • TrackedObjectArray

Discussion

• Is "is_stationary" field needed?
  • It is not used anywhere in the code.
• "sign_unknown" is not utilized in the code yet.
  • We still have plan to use this in the future.
• Object class information
  • Do we want to add more attributes to the object?
  • e.g., if we have coloring of vehicle, we might be able to use that for tracking
  • Right now, we have labels and positions because they are obvious information that we need for prediction/planning/etc.
    • We are open to any proposal to have robust way of representing additional attributes
  • For such texture based tracking, we might want to treat them separately as visual tracking module that provides information for final tracker.
• Kinematic Information
  • Where is the reference point of pose? -> centroid of the object
• Shape information
  • We are expecting to have shape message that we can use from Humble as well. https://github.com/ros2/common_interfaces/blob/master/shape_msgs/msg/SolidPrimitive.msg

Next Week Topic: Prediction, Sensing

Action Items

• @mitsudome-r to create a wiki page for this WG.

[Sharrrrk]

@mitsudome-r I have added the link of Autoware Architecture WG wiki to the wiki home page and the side navigation bar.
https://github.com/autowarefoundation/autoware-projects/wiki#working-group-list