Autoware Sensing Perception Working Group Meeting 2024-07-10

[drwnz]

Administrative

• Previous meeting
• Meeting time: Every second Wednesday, 10am UTC (alternating with Mapping WG)
• WG Google Drive
• Wiki page for this Working Group
• Shared issue list

Attendees

Chaired by David

Taekjin
Jun
Koji
Vivid
Kenzo
Max
Fatih
Baris
Amadeusz
Armagan
Ryohsuke

Agenda

• Introduction of new attendees
  • Welcome Jun Su from MIIVII
• Review of Issue List and assignment
• Review of Project Board and assignment
• TIER IV Evaluation in Perception pipeline: https://drive.google.com/file/d/1gxI94ZoSFgpy-oBxV1Ak4QLZQh3DNlxD/view?usp=drive_link
• Nebula update: https://github.com/tier4/nebula/tree/develop
• Pointcloud type change: https://github.com/orgs/autowarefoundation/discussions/3533
  • PR: feat: migrating pointcloud types autoware.universe#6996
  • Related launcher PR: chore: remapped topics for the point type migration sample_sensor_kit_launch#94
• Pointcloud preprocessor updates: https://drive.google.com/file/d/18DgWZ2FT0Vx291qmvkPXW0J_SF630YRv/view?usp=drive_link
• Perception package name prefix autoware_ and namespace fix
• Issue: Prefix packages with autoware_ prefix and keep code in autoware namespace #4569

Discussion topics

• Autoware Perception Evaluation in TIER IV by Koji: https://drive.google.com/file/d/1gxI94ZoSFgpy-oBxV1Ak4QLZQh3DNlxD/view?usp=drive_link
  • Fatih: NUscenes allows public evaluation for Autoware, so suggest using NUscenes
  • Armagan: This year these need to be done:
    • 3D object detection, tracking and prediction
    • 2D Image detection and instance segmentation
  • Fatih: what do we need to do to make this work with NUScenes?
    • Internally we use T4 dataset, but format is similar to NUScenes. First have to convert the NUScenes data to rosbag.
  • David: what about annotation format?
    • Pretty similar to NUScenes so should be OK
• Nebula update: https://github.com/tier4/nebula/tree/develop
  • Nebula: why not part of Autoware?
    • Currently and Autoware project
    • LeoDrive feels that Perception is controlled by TIER IV and hard to contribute to
    • Mitsudome: couple of reasons for this, don't have good CI and evaluation to reduce burden on review. Also more people are required on the OSS side. So these may be more systematic/strategy issues
    • Fatih: main candidates to move to AWF would be Nebula and TIER IV autoware messages
• Pointcloud type change: https://github.com/orgs/autowarefoundation/discussions/3533
  • PR: feat: migrating pointcloud types autoware.universe#6996
  • Related launcher PR: chore: remapped topics for the point type migration sample_sensor_kit_launch#94
  • Fatih: need to update documentation
• Pointcloud preprocessor updates: https://drive.google.com/file/d/18DgWZ2FT0Vx291qmvkPXW0J_SF630YRv/view?usp=drive_link
• Perception package name prefix autoware_ and namespace fix
• Issue: Prefix packages with autoware_ prefix and keep code in autoware namespace #4569
  • Fatih: Is there a way to report issues from the delays? Also want it to log what it does, for example publishing what pointclouds it published at what timestamps (on an optional publisher on a custom message)
  • Yes, adding to diagnostics
• Armagan: Time checking by Alexey, he found 50ms delay in concat
  • Yes, should be speeding things up with CUDA and also publishing much earlier in the driver

Action items

• Update pointcloud type documentation in Sensing

[technolojin]

autoware_ prefix schedule
#4569 (comment)

I would like to share perception team schedule for those works.

We keep work on namespace changes that are not breaking change. Also, the package name changes can be done within autoware_universe >will be done from now (example: autowarefoundation/autoware.universe#7892).

Current estimation for the breaking changes is as the following period.
22-25th of July