Cluster failed to be detected when in close proximity to the vehicle
Description
Agent in front of the vehicle were not detected on occasion when running the simulator with NPCs.
How to Reproduce
Running the RecordReplayPlanner Demo instructions with NPCs turned on (Press N in the simulator) and wait until agents appear in front of the vehicle before beginning the replay process.
Current Behavior
The below screenshots depicts the issue:
In both these situations the agent was in front of the vehicle and stopped however it seems as though the vehicle did not detect that as an object (see RViz is missing the bounding box).
Expected behavior
The agents should be detected by AutowareAuto and the vehicle should stop before colliding with the agent in front.
Some possible reasons for the issue:
- The Velodyne lidars have a minimum point distance of 0.5 meters and some of the vehicle directly in front of the ego-vehicle are within that distance.
- The algorithm which crops the points associated with the ego-vehicle as to not consider them obstacles is being overzealous and possibly naive (using only a radius from each sensor) which is causing valid points from other non-ego-vehicle obstacles to be missed.