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Copy file name to clipboardexpand all lines: perception/radar_crossing_objects_noise_filter/README.md
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This package contains a radar noise filter module for [autoware_auto_perception_msgs/msg/DetectedObject](https://gitlab.com/autowarefoundation/autoware.auto/autoware_auto_msgs/-/blob/master/autoware_auto_perception_msgs/msg/DetectedObject.idl).
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This package can filter the noise objects which cross to the ego vehicle.
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## Algorithm
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## Design
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### Background
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### Detail Algorithm
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### Algorithm
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To filter the objects crossing to ego vehicle, this package filter the objects as below algorithm.
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| `angle_threshold` | double | The angle threshold parameter to filter [rad]. This parameter has condition that 0 < `angle_threshold` < pi / 2. See algorithm chapter for details. | 1.0472 |
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| `velocity_threshold` | double | The velocity threshold parameter to filter [m/s]. See algorithm chapter for details. | 3.0 |
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### Parameters
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- `angle_threshold` (double) [rad]
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- Default parameter is 1.0472.
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This parameter is the angle threshold to filter. It has condition that 0 < `angle_threshold` < pi / 2. If the crossing angle is larger than this parameter, it can be a candidate for noise object. In other words, if it is smaller than this parameter, it is a filtered object.
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If this parameter is set smaller, more objects are considered noise. In detail, see algorithm chapter.
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- `velocity_threshold` (double) [m/s]
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- Default parameter is 3.0.
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This parameter is the velocity threshold to filter. If velocity of an object is larger than this parameter, it can be a candidate for noise object. In other words, if velocity of an object is smaller than this parameter, it is a filtered object.
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If this parameter is set smaller, more objects are considered noise. In detail, see algorithm chapter.
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