MTT-System-GNN-Tracker

所属分类:图神经网络
开发工具:matlab
文件大小:0KB
下载次数:2
上传日期:2023-06-17 03:45:02
上 传 者sh-1993
说明:  跟踪自动驾驶车辆的等速障碍物,
(Tracking constant velocity obstacles for Autonomous vehicles,)

文件列表:
LICENSE (34523, 2023-06-16)
media/ (0, 2023-06-16)
media/tracker.gif (6751360, 2023-06-16)
mtt_gnn_tracker/ (0, 2023-06-16)
mtt_gnn_tracker/GetLanesWPs.m (923, 2023-06-16)
mtt_gnn_tracker/LICENSE (34523, 2023-06-16)
mtt_gnn_tracker/Scenario1.mat (4466, 2023-06-16)
mtt_gnn_tracker/SimpleScenario.mat (4196, 2023-06-16)
mtt_gnn_tracker/TrackManagement.m (1411, 2023-06-16)
mtt_gnn_tracker/clusterDetections.m (2308, 2023-06-16)
mtt_gnn_tracker/correct.m (448, 2023-06-16)
mtt_gnn_tracker/createDemoDisplay.m (3564, 2023-06-16)
mtt_gnn_tracker/dataAssociation.m (5113, 2023-06-16)
mtt_gnn_tracker/defineScenario.m (1042, 2023-06-16)
mtt_gnn_tracker/getMeasurements.m (621, 2023-06-16)
mtt_gnn_tracker/initFilter.m (697, 2023-06-16)
mtt_gnn_tracker/init_params.m (1380, 2023-06-16)
mtt_gnn_tracker/main.asv (3457, 2023-06-16)
mtt_gnn_tracker/main.m (2930, 2023-06-16)
mtt_gnn_tracker/plotMetrics.m (920, 2023-06-16)
mtt_gnn_tracker/predict.m (487, 2023-06-16)
mtt_gnn_tracker/updateBEP.m (1583, 2023-06-16)

## MTT-System-GNN-Tracker ## Project Description This project presents the implementation of a multiple-object tracking system. I implemented Global Nearest Neighbour Tracker in conjunction with EKF to track constant velocity targets. I formulate multiple hypotheses using the k-best algorithm for the 2D assignment of measurement-to-tracks. The probability of target existence is used to confirm/delete and maintain tracks in the track management system. The tracker estimates the state vector and state vector covariance matrix for each track. Each detection is assigned to at most one track. If the detection cannot be assigned to any track, the tracker initializes a new track after a set threshold. Any new track starts in a tentative state. If enough detections are assigned to a tentative track, its status changes to confirm. If the detection already has a known classification (the ObjectClassID field of the returned track is nonzero), that track is confirmed immediately. When a track is confirmed, the tracker considers the track to represent a physical object. If detections are not assigned to the track within a specifiable number of updates, the track is deleted. ## Demonstration

## Platform * MATLAB ## Implementation Navigate to the ```MTT-System-GNN-Tracker``` folder Open ```main.m``` file and ```RUN``` it in MATLAB workspace.

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