Apollo: Apollo 3.5 appears to have no Lane Tracking?

[snuffysasa]

In Apollo 3.5, I have throughly read through the perception module code.

It appears that there is no Lane Tracking, as in no Lane history, matching detection to previous frames, and no filtering such as a Kalman Filter or Particle filter for processing Lane Lines.

Is this correct? Or have I missed something? Thanks

[techoe]

We detect lane line type (L0, L1, L2, R0, R1, R2,...) directly from a network. Therefore, we don't need to track lane lines any more. Please check the most recent lane line detection code.

[snuffysasa]

Thank you @techoe

We ended up implementing our own lane tracking...

However, I am confused why you say tracking is not needed....? Isn't there other reasons to have lane tracking, such as motion estimation, prediction, stability, and filtering out bad detections?

[techoe]

When each lane line segmentation results provide lane types (L0, L1, R0, ...). We can simply sample points . To handle bad detection, the RANSAC based line fitting algorithm is added as a post-processing.

[natashadsouza]

Closing this issue as it appears to be resolved. Thanks.