The actual structure of the config file was misleading regarding the functionality of the tracker. The Constant Velocity prediction model is of course the same for all the detectors and only the Cartesian observation model is detector specific. Therefore the config file has been adjusted and the code has been changed where necessary.
Additionally, so far only the Extended Kalman Filter was used. Now it is possible to define the filter type at startup and choose from the Extended and the Unscented Kalman filter. In theory, also a particle filter could be used but this is slower than the others and does not yield better results.
The actual structure of the config file was misleading regarding the functionality of the tracker. The Constant Velocity prediction model is of course the same for all the detectors and only the Cartesian observation model is detector specific. Therefore the config file has been adjusted and the code has been changed where necessary.
Additionally, so far only the Extended Kalman Filter was used. Now it is possible to define the filter type at startup and choose from the Extended and the Unscented Kalman filter. In theory, also a particle filter could be used but this is slower than the others and does not yield better results.
Implementation has been tested on Robot.