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feat(intersection): denoise occlusion by morphology open process #3763
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soblin
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soblin:feat/denoise-occlusion
May 19, 2023
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feat(intersection): denoise occlusion by morphology open process #3763
soblin
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autowarefoundation:main
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soblin:feat/denoise-occlusion
May 19, 2023
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Signed-off-by: Mamoru Sobue <[email protected]>
Signed-off-by: Mamoru Sobue <[email protected]>
Signed-off-by: Mamoru Sobue <[email protected]>
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Feat/denoise occlusion
feat(intersection): denoise occlusion by morphology open process
May 18, 2023
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Codecov ReportPatch coverage has no change and project coverage change:
Additional details and impacted files@@ Coverage Diff @@
## main #3763 +/- ##
==========================================
- Coverage 14.51% 14.51% -0.01%
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Files 1439 1439
Lines 101307 101312 +5
Branches 30061 30064 +3
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Hits 14708 14708
- Misses 70510 70514 +4
- Partials 16089 16090 +1
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…owarefoundation#3763) * apply morpholgoyEx to occlusion_mask_raw to remove noisy occlusion cell Signed-off-by: Mamoru Sobue <[email protected]> * parameterize kernel size Signed-off-by: Mamoru Sobue <[email protected]> * remove debug Signed-off-by: Mamoru Sobue <[email protected]> --------- Signed-off-by: Mamoru Sobue <[email protected]>
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…owarefoundation#3763) * apply morpholgoyEx to occlusion_mask_raw to remove noisy occlusion cell Signed-off-by: Mamoru Sobue <[email protected]> * parameterize kernel size Signed-off-by: Mamoru Sobue <[email protected]> * remove debug Signed-off-by: Mamoru Sobue <[email protected]> --------- Signed-off-by: Mamoru Sobue <[email protected]>
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* feat(intersection): denoise occlusion by morphology open process (autowarefoundation#3763) * apply morpholgoyEx to occlusion_mask_raw to remove noisy occlusion cell Signed-off-by: Mamoru Sobue <[email protected]> * parameterize kernel size Signed-off-by: Mamoru Sobue <[email protected]> * remove debug Signed-off-by: Mamoru Sobue <[email protected]> --------- Signed-off-by: Mamoru Sobue <[email protected]> * fix(intersection): add the flag for intersection_occlusion grid publication (autowarefoundation#3844) Signed-off-by: tomoya.kimura <[email protected]> --------- Signed-off-by: Mamoru Sobue <[email protected]> Signed-off-by: tomoya.kimura <[email protected]> Co-authored-by: Mamoru Sobue <[email protected]>
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Description
Apply morphology opening process to remove small occlusion from the occupancy grid.
Related links
parameter PR: autowarefoundation/autoware_launch#361
Tests performed
Psim
kernel size = 1.0m
kernel size = 3.0m:
Experiment
without this PR
with this PR and kernel_size = 2.5m, noisey occlusion does not appear.
Notes for reviewers
Interface changes
Not applicable.
Effects on system behavior
Not applicable.
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