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erikbohnsack / pmbm

Python implementation of Poisson Multi-Bernoulli Mixture Filter for Multi-Object Tracking.
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Undetected objects misdirected again #6

Open mihsamusev opened 4 years ago

mihsamusev commented 4 years ago

Hi, thanks for sharing this great code. Im unsure whether its a mistake or i dont understand something. Does this correspond to the update of the undetected objects modeled by Poisson point process that are missdetected again? Shouldn't it have a factor 1 - self.detection_probability then? My reference is the handout 5 from the edX course "Multi-Object Tracking for Automotive Systems" that describes the PMBM update.

https://github.com/erikbohnsack/pmbm/blob/9fc4dbbb81898f1a9bfaa19c7e387b0cab40be28/pmbm/pmbm.py#L137-L140

mihsamusev commented 4 years ago

Does 1 - self.detection_probability correspond to: https://github.com/erikbohnsack/pmbm/blob/9fc4dbbb81898f1a9bfaa19c7e387b0cab40be28/pmbm/config.py#L20

And the undetected objects mixture weights are reduced in gated_new_targets() method: https://github.com/erikbohnsack/pmbm/blob/9fc4dbbb81898f1a9bfaa19c7e387b0cab40be28/pmbm/pmbm.py#L516-L517