Skip to content

Commit

Permalink
add sentence
Browse files Browse the repository at this point in the history
Signed-off-by: tomoya.kimura <tomoya.kimura@tier4.jp>
  • Loading branch information
tkimura4 committed Jan 21, 2022
1 parent 69cd9ff commit ba96c05
Showing 1 changed file with 3 additions and 1 deletion.
4 changes: 3 additions & 1 deletion planning/obstacle_stop_planner/README.md
Original file line number Diff line number Diff line change
Expand Up @@ -273,7 +273,9 @@ stop
@enduml
```

The velocity estimation of the pointcloud uses the velocity information of dynamic objects, or the distance to the point cloud found in the previous step. If the pointcloud is contained in the bounding box of a dynamic object geometrically, the velocity of the dynamic object is used as the pointcloud velocity. If not, and when a target pointcloud is found in the previous step, the pointcloud velocity is calculated using the target pointcloud found in the previous step and current step; the distance and time difference between two point clouds is used for calculating pointcloud velocity. If the calculated velocity is within the threshold range, it is used as the pointcloud velocity.
The velocity estimation of the pointcloud uses the velocity information of dynamic objects, or the distance to the point cloud found in the previous step. If the pointcloud is contained in the bounding box of a dynamic object geometrically, the velocity of the dynamic object is used as the pointcloud velocity. If not, and when a target pointcloud is found in the previous step, the pointcloud velocity is calculated using the target pointcloud found in the previous step and current step; the distance and time difference between two point clouds is used for calculating pointcloud velocity. For the stability of the velocity estimatation, the median of the calculation result for several steps is used as pointcloud velocity.

If the calculated velocity is within the threshold range, it is used as the pointcloud velocity.

\*The sources of velocity estimation can be changed by the following ROS parameters.

Expand Down

0 comments on commit ba96c05

Please sign in to comment.