Third Party Perception

Introduction

In Apollo 2.5, the third_party_perception module incorporates third-party sensors like Mobileye and Conti/Delphi Radar output with simple fusion and creates a similar perception output produced as obstacle/lane detection information as defined in Perception Obstacles Interface. This module was only intend to serve for the Prediction/Planning/Control algorithm in real vehicle before perception modules fully ready before 2.5. We recommend using 'modules/perception' instead for your own test purpose after Apollo 2.5 officially released.

Input

The perception module inputs are:

• Radar data (ROS topic /apollo/sensor/conti_radar or /apollo/sensor/delphi_esr )
• Mobileye data (ROS topic /apollo/sensor/mobileye)

Output

The perception module outputs are:

• The 3D obstacle tracks with the heading, velocity and classification information (ROS topic /apollo/perception/obstacles)
• The lane marker information with fitted curve parameter, spatial information(l0,r0, etc) as well as semantic information (lane type) (ROS topic /apollo/perception/obstacles)