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docs: update the perception design document and the interface document (
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autowarefoundation#499)
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miursh authored Dec 8, 2023
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24 changes: 22 additions & 2 deletions docs/design/autoware-architecture/perception/index.md
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Expand Up @@ -40,8 +40,28 @@ This diagram describes the high-level architecture of the Perception Component.

The Perception Component consists of the following sub-components:

- **Object Recognition**: Recognizes dynamic objects surrounding the ego vehicle in the current frame and predicts their future trajectories.
- **Obstacle Segmentation**: Identifies point clouds originating from obstacles(not only dynamic objects but also static obstacles that should be avoided, such as stationary obstacles) that the ego vehicle should avoid.
- **Object Recognition**: Recognizes dynamic objects surrounding the ego vehicle in the current frame, objects that were not present during map creation, and predicts their future trajectories. This includes:
- Pedestrians
- Cars
- Trucks/Buses
- Bicycles
- Motorcycles
- Animals
- Traffic cones
- Road debris: Items such as cardboard, oil drums, trash cans, wood, etc., either dropped on the road or floating in the air
- **Obstacle Segmentation**: Identifies point clouds originating from obstacles, including both dynamic objects and static obstacles that requires the ego vehicle either steer clear of them or come to a stop in front of the obstacles.
- This includes:
- All dynamic objects (as listed above)
- Curbs/Bollards
- Barriers
- Trees
- Walls/Buildings
- This does not include:
- Grass
- Water splashes
- Smoke/Vapor
- Newspapers
- Plastic bags
- **Occupancy Grid Map**: Detects blind spots (areas where no information is available and where dynamic objects may jump out).
- **Traffic Light Recognition**: Recognizes the colors of traffic lights and the directions of arrow signals.

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17 changes: 10 additions & 7 deletions docs/design/autoware-interfaces/components/perception.md
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# Perception

This page provides specific specifications about the Interface of the Perception Component. Please refer to [the perception architecture reference implementation design document](../../autoware-architecture/perception/reference_implementation.md) for concepts and data flow.
This page provides specific specifications about the Interface of the Perception Component.
Please refer to [the perception architecture reference implementation design](../../autoware-architecture/perception/reference_implementation.md) for concepts and data flow.

## Input

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### To Planning

| Name | Topic | Type | Description |
| ------------------ | ------------------------------------------------------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------ | --------------------------------------------------------------------------------------------------------- |
| Dynamic Objects | `/perception/object_recognition/objects` | [autoware_auto_perception_msgs/msg/PredictedObjects](https://github.com/tier4/autoware_auto_msgs/blob/tier4/main/autoware_auto_perception_msgs/msg/PredictedObjects.idl) | Set of dynamic objects with information such as a object class and a shape of the objects |
| Obstacles | `/perception/obstacle_segmentation/pointcloud` | [sensor_msgs/PointCloud2](https://github.com/ros2/common_interfaces/blob/humble/sensor_msgs/msg/PointCloud2.msg) | Obstacles, which includes dynamic objects and static objetcs |
| Occupancy Grid Map | `/perception/occupancy_grid_map/map` | [nav_msgs/msg/OccupancyGrid](https://docs.ros.org/en/latest/api/nav_msgs/html/msg/OccupancyGrid.html) | The map with the imformation about the presence of obstacles and blind spot |
| Traffic Signal | `/perception/traffic_light_recognition/traffic_signals` | [autoware_perception_msgs::msg::TrafficSignalArray](https://github.com/autowarefoundation/autoware_msgs/blob/main/autoware_perception_msgs/msg/TrafficSignalArray.msg) | The traffic signal information such as a color (green, yellow, read) and an arrow (right, left, straight) |
Please refer to [the perception component design](../../autoware-architecture/perception/index.md#high-level-architecture) for detailed definitions of each output."

| Name | Topic | Type | Description |
| ------------------ | ------------------------------------------------------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------ | --------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
| Dynamic Objects | `/perception/object_recognition/objects` | [autoware_auto_perception_msgs/msg/PredictedObjects](https://github.com/tier4/autoware_auto_msgs/blob/tier4/main/autoware_auto_perception_msgs/msg/PredictedObjects.idl) | Set of dynamic objects with information such as a object class and a shape of the objects. These objects did not exist when the map was generated and are not contained within the map. |
| Obstacles | `/perception/obstacle_segmentation/pointcloud` | [sensor_msgs/PointCloud2](https://github.com/ros2/common_interfaces/blob/humble/sensor_msgs/msg/PointCloud2.msg) | Obstacles, including both dynamic objects and static obstacles that requires the ego vehicle either steer clear of them or come to a stop in front of the obstacles. |
| Occupancy Grid Map | `/perception/occupancy_grid_map/map` | [nav_msgs/msg/OccupancyGrid](https://docs.ros.org/en/latest/api/nav_msgs/html/msg/OccupancyGrid.html) | The map with the information about the presence of obstacles and blind spot |
| Traffic Signal | `/perception/traffic_light_recognition/traffic_signals` | [autoware_perception_msgs::msg::TrafficSignalArray](https://github.com/autowarefoundation/autoware_msgs/blob/main/autoware_perception_msgs/msg/TrafficSignalArray.msg) | The traffic signal information such as a color (green, yellow, read) and an arrow (right, left, straight) |

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