Port Lidar Outlier Removal from TierIV Reference Architecture
Description
The new Autoware.Auto architecture for the Cargo Delivery ODD requires outlier removal for each lidar. The TierIV Reference Architecture contains code to do this so we should port it from there rather than writing it from scratch.
Purpose
Outlier removal allows the stack to remove points which are likely noise. This is important for an accurate perception stack result based on lidar.
Definition of Done
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Add the filter_node_base package -
Add tests for the filter base class
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Add the outlier_filter library + tests -
radius_search_2d
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ring
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Add point type with ring information
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voxel_grid
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Add outlier_filter_nodes package containing executables + tests -
radius_search_2d
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ring
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voxel_grid
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Add to the launch pipeline for perception in the autoware_auto_launch
package and add examples to the docs if applicable. -
Code has been tested with real lidar data
Edited by Jilada Eccleston