object_merger#
Purpose#
object_merger is a package for merging detected objects from two methods by data association.
Inner-workings / Algorithms#
The successive shortest path algorithm is used to solve the data association problem (the minimum-cost flow problem). The cost is calculated by the distance between two objects and gate functions are applied to reset cost, s.t. the maximum distance, the maximum area and the minimum area.
Inputs / Outputs#
Input#
| Name | Type | Description |
|---|---|---|
input/object0 |
autoware_auto_perception_msgs::msg::DetectedObjects |
detection objects |
input/object1 |
autoware_auto_perception_msgs::msg::DetectedObjects |
detection objects |
Output#
| Name | Type | Description |
|---|---|---|
output/object |
autoware_auto_perception_msgs::msg::DetectedObjects |
modified Objects |
Parameters#
No Parameters.
Assumptions / Known limits#
(Optional) Error detection and handling#
(Optional) Performance characterization#
(Optional) References/External links#
(Optional) Future extensions / Unimplemented parts#
Data association algorithm was the same as that of multi_object_tracker, but the algorithm of multi_object_tracker was already updated.