tipf
commented
1 month ago Hi Hojun, you are right. This must be a typo in equation (7). The constant velocity model is always applied between the current and the last position.
The code can be found here: https://github.com/TUC-ProAut/libRSF/blob/d54801a232af02c0cda6012dabd3dea6c5fd77c5/include/factors/ConstantDriftFactor.h#L63
Best Regards Tim
Hi.
I am very interested in your approach using GMM for resilience of object associations and thank you for your repository.
I would like to ask about the constant velocity factor in the paper "Optimization based 3D Multi-Object Tracking using Camera and Radar Data" and "Factor Graph based 3D Multi-Object Tracking in Point Clouds".
How can get the X_pos at time t+1 while constructing and optimizing the factor graph at time t and t-1.
Other error models for rotation and dimension uses constant value factor and its time periods are t and t-1.
Can you help me understand the constant velocity factor?
Sincerely, Hojun Son.