docs: update the perception design document and the interface document

Signed-off-by: Shunsuke Miura <[email protected]>
autowarefoundation · Dec 7, 2023 · 4c86152 · 4c86152
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diff --git a/docs/design/autoware-architecture/perception/index.md b/docs/design/autoware-architecture/perception/index.md
@@ -40,8 +40,30 @@ 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
+  - Fallen Objects, Flying Objects, etc: Items such as cardboard, drums, wood, etc., either falling or airborne.
+- **Obstacle Segmentation**: Identifies point clouds originating from obstacles, including both dynamic objects and static obstacles that equires 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
+    - etc
+  - This does not include:
+    - grass
+    - water splashes
+    - smoke/vapor
+    - newspapers
+    - plastic bags
+    - etc
 - **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.
 

diff --git a/docs/design/autoware-interfaces/components/perception.md b/docs/design/autoware-interfaces/components/perception.md
@@ -1,6 +1,7 @@
 # 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
 
@@ -41,9 +42,11 @@ Notes:
 
 ### 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. Dynamic objects refer to those that were not present during map creation. |
+| 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 equires 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 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)                                                            |