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Multi-Object-Tracking

A fast object tracking method by using JPDA-IMM-UKF.

ros kinetic pcl 1.8 dataset kitti

Tracking Result

[youtube link] [bilibili link]

Image text

Introduction

This project combine JPDA, IMM(CV,CTRV,CTRA) and UKF to achieve a fast object tracking method.

Requirements

  1. ROS

  2. pcl

  3. boost

  4. Eigen

How to use

  1. Download the kitti tracking dataset

    For number 0020,orgnaize the data as follows:

    └── tracking0020
    ├── calib
    ├── image_2
    ├── lable_02
    ├── oxts
    └── velodyne
    

    Change the data path in launch file.

  2. Build the code

     catkin_make
    
  3. Run

    source devel/setup.bash
    roslaunch track.launch
    

Reference

[1] JPDA

[2] UKF

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A fast object tracking method by using JPDA-IMM-UKF.

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  • C++ 95.2%
  • CMake 3.0%
  • C 1.8%