Perception & Sensing WG Meeting 31/05/2023

[drwnz]

Administrative

• Previous meeting
• Meeting time: Every second Wednesday, 10am UTC (alternating with Mapping WG)
• WG Google Drive

Attendees

Chaired by Fatih

• Kenzo Lobos
• Dai Nguyen
• YoshiRi
• Zeynep Akbalık
• Prerag Djurdjevic
• Alexey Panferov
• Mitsudome-san
• Yusuke Muramatsu
• Kaan Çolak
• Holger Trittenbach
• Armağan Arslan
• Miura-san
• David Walmroth
• Kumar, Chamakuri Sai
• Bonolo
• Phan Nam

Agenda

• Introduction of new attendees
• Introduction from neurocat
• Progress report on Completion of Sensing & Perception Documentation
• Progress report on Universal Lidar Driver
• Review of Project Board and assignment

Discussion topics

• Introduction from neurocat
  • They offer the product: aidkit as a solution:
    • aidkit is the toolkit to test the perception functions of ADAS/ADS and ensure they are safe for deployment.
    • By testing your ML model for robustness against a range of altered scenes, aidkit ensures reliable performance in your ODD.
    • Where performance falters, aidkit guides your data campaign so you know how to improve.
    • aidkit integrates into existing workflows and reduces time to deployment though useful features such as scaling, data lineage, and automatic retraining.
    • Deploy a safer perception component with the empirical evidence to back up your safety claims to safety managers and external regulators.
  • How to collaborate with neurocat 🐱?
    • Let's hold another meeting to discuss further.
    • We'll compile a list of our questions for neurocat.
• Progress report on Supported Sensors Documentation
  • @armaganarsln
    • In the reference wg, we are also interested in this.
    • @xmfcx to join to the next Reference WG to show them how they can contribute it to the documentation
    • https://docs.google.com/document/d/1Q2hRkJ1y_smtogIYb0sQdOyot-01UpZV3DlGyGU1-Gs/edit?usp=sharing (old documentation)
• Progress report on Completion of Sensing & Perception Documentation
  • docs: add perception design autoware-documentation#385
    • Everyone is ok to add comments even in the draft stage.
  • docs(design/autoware-interfaces): add sensing interface autoware-documentation#328

    /sensing/lidar/driver/velodyne_driver
    /sensing/gnss/preprocessor/gnss_poser    
    

    • We can discuss more on the convention.
• Progress report on Universal LiDAR Driver
  • Will be released within this week.
  • Thank you for discussion on point field ordering, implementation has been aligned to match:

struct PointXYZIRCAEDT
{
 float x;
 float y;
 float z;
 std::uint8_t intensity;
 std::uint8_t return_type;
 std::uint16_t channel;
 float azimuth;
 float elevation;
 float distance;
 std::uint32_t time_stamp;
};

• Review of Project Board and task assignment
  • Ground remover package
    • ground remover package cannot delete ghost points appears front of car when passing speedbump autoware.universe#3673
  • Caching issue
    • ring_outlier_filter blows up my cache (and yours too) autoware.universe#3269
  • Map-based prediction
    • Map Based Prediction Incorrect Predictions autoware.universe#494
• Other items
• @badai-nguyen is working on rainy conditions object detection tasks internally.
• @knzo25 is working on Traffic light arbiter node.
• @miursh mainly reviewing the active PRs and issues.
• @YoshiRi internally working on: tracking models, tuning tracking (camera filter params)
  • We don't have enough regression checks in general, we can not easily confirm if parameter changes improve the tracking stack.
  • In TIER IV collecting annotated data, simulator, planning to use these data to eval perception results.
  • Working on the Web.auto service, not github ci.
• @yukke42 working on ML projects, not public yet.
• @Zeysthingz working on
  • ground remover package cannot delete ghost points appears front of car when passing speedbump autoware.universe#3673
  • will upload data on the topic
• @kaancolak is working on sensing delay mitigation on the Internal VW Golf vehicle project.
• @lexavtanke is working on ML based Occupancy
  • ground remover package cannot delete ghost points appears front of car when passing speedbump autoware.universe#3673

Action items

• Announce formation of working group on ROS Discourse
• Announce Nebula (universal sensor driver) open source release
• Summarize current documentation for Sensing & Perception documentation

[lexavtanke]

Progress report on ML occupancy prediction task