Convert object tracker to use observations code

jtanx / picopterx

FYP 2015 Hexacopter project 🚁🚁🚁🚁

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Convert object tracker to use observations code #106

Closed BrettRD closed 9 years ago

BrettRD commented 9 years ago

Still more to do:

[x] Implement global coordinates at all (critical, see camera and lidar observation generators)
[x] Decide on how to handle GPS uncertainty
[x] Unit tests
[ ] At least consider rotational uncertainties
[x] Object/observation distinguishing routine (a bit basic at the moment)
[x] Re-jig basic trajectory algorithm
[x] Mathematics for velocity interpolation

BrettRD commented 9 years ago

Ignore GPS uncertainty and use the object's velocity uncertainty to allow the objects to drift.

BrettRD commented 9 years ago

Tracker now has a decent matching algorithm, and a couple of braindead ones. Rotational uncertainties are now firmly on the after-2015 list along with optical flow and hyperbolic distributions.