A fast object tracking method by using JPDA-IMM-UKF.
[youtube link] [bilibili link]
This project combine JPDA, IMM(CV,CTRV,CTRA) and UKF to achieve a fast object tracking method.
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ROS
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pcl
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boost
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Eigen
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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.
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Build the code
catkin_make
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Run
source devel/setup.bash roslaunch track.launch
[1] JPDA
[2] UKF