Lidar cluster and classifier not output as expectation

asked 2021-09-22 04:31:49 -0500

daniel.tian
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After run lidar cluster and classifier module(Single lidar) of autoware.auto, I found that the object output is not my expectation. I expect the lidar algo can output object only for interest ones: car/truck/bus/bicycle/person etc. But in fact it will output all the cluster points, the points from kerb/bushes/wall will also generate some dummy object. Of course, these objects is not what I need. So I want to know whether autoware algo can output only interest object, if it is, what shall I do? Below is the gif for reference. image description

answered 2021-09-22 08:34:56 -0500

osilva

1650 ●3 ●172 ●19 https://github.com/rob...

Hi @daniel.tian

You need to process the point cloud produced by the lidar with a separate algorithm, as per documentation VoxelNet and LMNet are compatible:

"lidar_detector reads point cloud data from 3D laser scanners, and provides LiDAR-based object detection capabilities. The basic performance comes from the Euclidean Clustering algorithm, which finds clusters of the LiDAR scan (point cloud) above the ground. To classify the clusters, DNN-based algorithms are also supported, such as VoxelNet and LMNet." https://gitlab.com/autowarefoundation...

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Thanks for your reply Omar. My project is based on autoware.auto framework, and searched in my project, it seems that there is no VoxelNet and LMNet in official autoware.auto project. I guess it is located in autoware.ai. If so, after copy from autoware.ai, can I build it and launch in autoware.auto directly? I am new to autoware, and not know the work load. Many thanks.

daniel.tian ( 2021-09-22 22:24:37 -0500 )edit

You will have to process the point cloud on a separate node. Here is an example using ROS https://github.com/AbangLZU/VoxelNetRos

Glad it helped. Pls remember to vote and if you have more questions start a new one. Good luck

osilva ( 2021-09-23 03:05:52 -0500 )edit

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