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The use of sensors on Autoware

Hi! I have a question about the use of sensors on Autoware. I am wondering whether there is necessary to use both Lidar and Camera together if I want to use detection module of Autoware to do some research? Currently, I just have two functional usb 2.0 cameras, running well on Autoware. I looked over the paper named “Autoware on Board: Enabling Autonomous Vehicles with Embedded Systems”, which mentions that object fusion of points objects with image objects in a diagram of packages of Autoware. This led me to think whether I need to use lidar with camera together if I want to use detection module. Thank you so much.


Firstly, I would like to say it depends on your need.

Current Autoware requires LIDAR.
A camera is optional.
If you have a camera, you can get better detection result,
like traffic light classification.

The wiki link tells how to use fundamental functions in Autoware only by LIDAR.