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Single LiDAR-Blockage diagnostics #417

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badai-nguyen opened this issue Feb 18, 2022 · 1 comment
Closed

Single LiDAR-Blockage diagnostics #417

badai-nguyen opened this issue Feb 18, 2022 · 1 comment
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component:sensing Data acquisition from sensors, drivers, preprocessing. (auto-assigned)

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badai-nguyen commented Feb 18, 2022 •
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Problem
The LiDAR - blockage is phenomenon when some unwanted objects cling LiDARs and block the emitted/return light.
Blockage situation as out of ODD which might significantly degrade the performance of LiDAR is necessary to be detected.
The blockage might be cause by wide range of objects in the environments, for instance, leaf, plastic bag, dust, snow, ice ...

image

Suggestion

Blockage can be detected based on the empty return region of LiDAR point cloud or LiDAR depth map with considering the ground and sky range for each LiDAR.

image

Blank region in ground-range: high possibility of blockage
Blank region is only in sky-range : low possibility of blockage
mitsudome-r added a commit to mitsudome-r/autoware.universe that referenced this issue Mar 1, 2022
@1222-takeshi @mitsudome-r
@harihitode @kenji-miyake @nnmm @nik-tier4 @TakaHoribe @sgermanserrano @k0suke-murakami @wep21 @YamatoAndo @tkimura4 @kmiya @isamu-takagi @h-ohta @KeisukeShima @IshitaTakeshi @takayuki5168
feat: add localization utils (autowarefoundation#59)
5d6f417 
* release v0.4.0

* Avoid setting CMAKE_BUILD_TYPE=Release in each CMakeLists.txt (autowarefoundation#720)

* remove set CMAKE_BUILD_TYPE Release in each CMakeLists.txt

* remove set CMAKE_BUILD_TYPE Release in ndt_pcl_modified

* set compile options for debug in ndt_omp

* Fix indent

* add warning if -DCMAKE_BUILD_TYPE=Release is not set in ndt_omp

Co-authored-by: Kenji Miyake <[email protected]>

* remove ROS1 packages temporarily

Signed-off-by: mitsudome-r <[email protected]>

* Port autoware_localization_srvs

* Add DEPENDENCIES

* Revert "remove ROS1 packages temporarily"

This reverts commit ee01a755ac5b22c61f4274ae2ee57b0a18150a78.

Signed-off-by: mitsudome-r <[email protected]>

* add COLCON_IGNORE to ros1 packages

Signed-off-by: mitsudome-r <[email protected]>

* Rename launch files to launch.xml (autowarefoundation#28)

* Port pose_initializer to ROS2 (autowarefoundation#11)

* CMakeLists.txt & package.xml

* Compiles

* Works

* Use callback instead

* Reviewer feedback

* Add sequence number check

* Review feedback

* Fix lint issues (autowarefoundation#128)

* Rename h files to hpp (autowarefoundation#142)

* Change includes

* Rename files

* Adjustments to make things compile

* Other packages

* Use quotes for includes where appropriate (autowarefoundation#144)

* Use quotes for includes where appropriate

* Fix lint tests

* Make tests pass hopefully

* fixing trasient_local in ROS2 packages (autowarefoundation#160)

* [ekf_localizer] [pose_initializer] fix topic message type (autowarefoundation#176)

Co-authored-by: Autoware <[email protected]>
Co-authored-by: Takamasa Horibe <[email protected]>

* ading linters to pose_initializer (autowarefoundation#186)

* adding linters to autoware_localization_srvs (autowarefoundation#185)

* Port initial-pose-button-panel (autowarefoundation#125)

* Port

Signed-off-by: Servando German Serrano <[email protected]>

* Initialize button when request received

Signed-off-by: Servando German Serrano <[email protected]>

* Amend buildtool

Signed-off-by: Servando German Serrano <[email protected]>

* Fix license

Signed-off-by: Servando German Serrano <[email protected]>

* apply env_var to  use_sim_time (autowarefoundation#222)

* retry gnss initialize (autowarefoundation#1043) (autowarefoundation#263)

Co-authored-by: YamatoAndo <[email protected]>

* Ros2 v0.8.0 initial pose buttion panel (autowarefoundation#312)

* restore initial pose button panel files for v0.8.0 update

* fix typos in localization (autowarefoundation#890)

* Fix memory leak and remove unused properties (autowarefoundation#964)

* Revert "restore initial pose button panel files for v0.8.0 update"

This reverts commit 01281a2633636f80f241a788f9d35c517a2977e1.

* delete unused header

* add ament lint test

* apply ament_lint

* fix bug

Co-authored-by: Kazuki Miyahara <[email protected]>

* modify pose_initialize for foa  (autowarefoundation#382)

* pose_initialize for foa (autowarefoundation#1171)

* pose_initialize for foa

Signed-off-by: Yamato ANDO <[email protected]>

* rename topic

Signed-off-by: Yamato ANDO <[email protected]>

* fix topic name

Signed-off-by: mitsudome-r <[email protected]>

* Fix missing gnss subscriber (autowarefoundation#417)

Signed-off-by: wep21 <[email protected]>

* Ros2 fix ndt align srv (autowarefoundation#442)

* Add success field to ndt align srv response

Signed-off-by: Takagi, Isamu <[email protected]>

* Apply change of ndt align srv

Signed-off-by: Takagi, Isamu <[email protected]>

* Apply change of ndt align srv

Signed-off-by: Takagi, Isamu <[email protected]>

* Fix lint

Signed-off-by: Takagi, Isamu <[email protected]>

* Unify Apache-2.0 license name (autowarefoundation#1242)

* Remove use_sim_time for set_parameter (autowarefoundation#1260)

Signed-off-by: wep21 <[email protected]>

* Fix dependency type of rosidl_default_generators (autowarefoundation#1801)

* Fix dependency type of rosidl_default_generators

Signed-off-by: Kenji Miyake <[email protected]>

* Remove unnecessary depends

Signed-off-by: Kenji Miyake <[email protected]>

* Use ament_cmake_auto

Signed-off-by: Kenji Miyake <[email protected]>

* Fix -Wunused-parameter (autowarefoundation#1836)

* Fix -Wunused-parameter

Signed-off-by: Kenji Miyake <[email protected]>

* Fix mistake

Signed-off-by: Kenji Miyake <[email protected]>

* fix spell

* Fix lint issues

Signed-off-by: Kenji Miyake <[email protected]>

* Ignore flake8 warnings

Signed-off-by: Kenji Miyake <[email protected]>

Co-authored-by: Hiroki OTA <[email protected]>

* Add autoware api (autowarefoundation#1979)

* add sort-package-xml hook in pre-commit (autowarefoundation#1881)

* add sort xml hook in pre-commit

* change retval to exit_status

* rename

* add prettier plugin-xml

* use early return

* add license note

* add tier4 license

* restore prettier

* change license order

* move local hooks to public repo

* move prettier-xml to pre-commit-hooks-ros

* update version for bug-fix

* apply pre-commit

* Change formatter to clang-format and black (autowarefoundation#2332)

* Revert "Temporarily comment out pre-commit hooks"

This reverts commit 748e9cdb145ce12f8b520bcbd97f5ff899fc28a3.

* Replace ament_lint_common with autoware_lint_common

Signed-off-by: Kenji Miyake <[email protected]>

* Remove ament_cmake_uncrustify and ament_clang_format

Signed-off-by: Kenji Miyake <[email protected]>

* Apply Black

Signed-off-by: Kenji Miyake <[email protected]>

* Apply clang-format

Signed-off-by: Kenji Miyake <[email protected]>

* Fix build errors

Signed-off-by: Kenji Miyake <[email protected]>

* Fix for cpplint

* Fix include double quotes to angle brackets

Signed-off-by: Kenji Miyake <[email protected]>

* Apply clang-format

Signed-off-by: Kenji Miyake <[email protected]>

* Fix build errors

Signed-off-by: Kenji Miyake <[email protected]>

* Add COLCON_IGNORE (autowarefoundation#500)

Signed-off-by: Kenji Miyake <[email protected]>

* Remove COLCON_IGNORE under localization (autowarefoundation#553)

* Remove 'pose_initializer/COLCON_IGNORE' (autowarefoundation#556)

* add README.md (autowarefoundation#623)

* add README.md

* fix typo

* minor fix

* Update localization/util/autoware_localization_rviz_plugin/initial_pose_button_panel/README.md

Co-authored-by: Kazuki Miyahara <[email protected]>

* Update localization/util/autoware_localization_rviz_plugin/initial_pose_button_panel/README.md

Co-authored-by: Kazuki Miyahara <[email protected]>

* Update localization/util/autoware_localization_rviz_plugin/initial_pose_button_panel/README.md

Co-authored-by: Takayuki Murooka <[email protected]>
Co-authored-by: Kazuki Miyahara <[email protected]>
Co-authored-by: tkimura4 <[email protected]>

* add readme in pose initializer (autowarefoundation#636)

* add readme in pose initializer

Signed-off-by: Kosuke Murakami <[email protected]>

* modify doc

Signed-off-by: Kosuke Murakami <[email protected]>

* move autoware_localization_srvs package (autowarefoundation#689)

* move autoware_localization_srvs package

* apply pre-commit

* rename pose_with_cov to pose_with_covariance

* apply pre-commit

* fix: move initial_pose_button_panel directory

Co-authored-by: mitsudome-r <[email protected]>
Co-authored-by: Daichi Murakami <[email protected]>
Co-authored-by: Kenji Miyake <[email protected]>
Co-authored-by: Nikolai Morin <[email protected]>
Co-authored-by: Nikolai Morin <[email protected]>
Co-authored-by: nik-tier4 <[email protected]>
Co-authored-by: Ryohsuke Mitsudome <[email protected]>
Co-authored-by: Autoware <[email protected]>
Co-authored-by: Takamasa Horibe <[email protected]>
Co-authored-by: Servando <[email protected]>
Co-authored-by: Kosuke Murakami <[email protected]>
Co-authored-by: Daisuke Nishimatsu <[email protected]>
Co-authored-by: YamatoAndo <[email protected]>
Co-authored-by: tkimura4 <[email protected]>
Co-authored-by: Kazuki Miyahara <[email protected]>
Co-authored-by: Takagi, Isamu <[email protected]>
Co-authored-by: Hiroki OTA <[email protected]>
Co-authored-by: Keisuke Shima <[email protected]>
Co-authored-by: Takeshi Ishita <[email protected]>
Co-authored-by: Takayuki Murooka <[email protected]>
Co-authored-by: Takayuki Murooka <[email protected]>
@badai-nguyen badai-nguyen mentioned this issue Mar 2, 2022
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@aohsato aohsato added the component:sensing Data acquisition from sensors, drivers, preprocessing. (auto-assigned) label Apr 14, 2022
@badai-nguyen
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This issue has been resolved by #461

TomohitoAndo pushed a commit to TomohitoAndo/autoware.universe that referenced this issue Oct 5, 2022
@tier4-autoware-private-bot
Merge pull request autowarefoundation#417 from tier4/sync-main-for-de…
371548b 
…velop

sync main for develop
tkimura4 referenced this issue in tier4/autoware.universe Oct 24, 2022
@rej55
fix(planning_launch): fix launch file (#417)
591de7a 
* fix(planning_launch): fix launch file

Signed-off-by: Fumiya Watanabe <[email protected]>

* fix(planning_launch): fix xml file

Signed-off-by: Fumiya Watanabe <[email protected]>
kyoichi-sugahara pushed a commit to kyoichi-sugahara/autoware.universe that referenced this issue May 12, 2023
@tkimura4
Merge pull request autowarefoundation#417 from tier4/hotfix/behavior-…
a4a173e 
…path

fix(behavior_path_planner): hotfix for behavior path planner
keiota pushed a commit to keiota/autoware.universe that referenced this issue Aug 17, 2023
@tkimura4
feat: use vehicle_stop_checker for judging vehicle stop vehicle_cmd_g…
fe9a1f7 
…ate (autowarefoundation#417)

Signed-off-by: tomoya.kimura <[email protected]>
kyoichi-sugahara pushed a commit that referenced this issue Sep 16, 2023
@wep21
chore(repos): add ndt convergence evaluation (#417)
a047273 
Signed-off-by: wep21 <[email protected]>
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