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shape_estimation

Purpose

This node calculates a refined object shape (bounding box, cylinder, convex hull) in which a pointcloud cluster fits according to a label.

Inner-workings / Algorithms

Fitting algorithms

  • bounding box

    L-shape fitting. See reference below for details.

  • cylinder

    cv::minEnclosingCircle

  • convex hull

    cv::convexHull

Inputs / Outputs

Input

Name Type Description
input tier4_perception_msgs::msg::DetectedObjectsWithFeature detected objects with labeled cluster

Output

Name Type Description
output/objects autoware_auto_perception_msgs::msg::DetectedObjects detected objects with refined shape

Parameters

{{ json_to_markdown("perception/shape_estimation/schema/shape_estimation.schema.json") }}

Assumptions / Known limits

TBD

References/External links

L-shape fitting implementation of the paper:

@conference{Zhang-2017-26536,
author = {Xiao Zhang and Wenda Xu and Chiyu Dong and John M. Dolan},
title = {Efficient L-Shape Fitting for Vehicle Detection Using Laser Scanners},
booktitle = {2017 IEEE Intelligent Vehicles Symposium},
year = {2017},
month = {June},
keywords = {autonomous driving, laser scanner, perception, segmentation},
}