VSI Pro Report: Apollo Perception Module for Object Detection

Pro Report 9 Cover - Square.jpg
Pro Report 9 Cover - Square.jpg

VSI Pro Report: Apollo Perception Module for Object Detection


Baidu’s Apollo is one of the major open-source products used for developing and testing AVs. VSI has been using Apollo software to build AV applications with its test vehicle. In this project, we focus on using Apollo’s perception module for object detection. This report provides a technical examination of the perception module by describing how it works and what it is capable of. The report also compares the performance of LiDAR and camera-based object detection between Apollo 3.0 and 3.5.

Add To Cart

Table of Contents

  • Introduction

    • VSI’s Work with Apollo

    • System Prerequisites

  • Procedure

    • Using Directed Acrylic Graph (DAG) for Perception Framework

      • Sensor Configuration Examples

    • Integration with ROS (Apollo 3.0) vs Cyber RT (Apollo 3.5)

      • Apollo 3.0 - Docker ROS bridge to Host ROS

      • Apollo 3.5 - Cyber to ROS Bridge

    • Reference Files for Apollo 3.5 Perception Module

    • Submodules in Apollo 3.5 Perception (LiDAR & Camera)

      • LiDAR Processing Pipeline

      • Camera Processing Pipeline

  • Observations & Results

    • LiDAR-based Obstacle Detection (Apollo 3.0 vs 3.5)

    • Camera-based Perception (Apollo 3.0 vs 3.5)

    • Summary of Observations

  • Alternative Solutions

  • Conclusion