Multi-Object-Tracking

A fast object tracking method by using JPDA-IMM-UKF.

Tracking Result

[youtube link] [bilibili link]

Introduction

This project combine JPDA, IMM(CV,CTRV,CTRA) and UKF to achieve a fast object tracking method.

Requirements

1. ROS

2. pcl

3. boost

4. Eigen

How to use

1. 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.

2. Build the code

   catkin_make

3. Run

   source devel/setup.bash roslaunch track.launch

Reference

[1] JPDA

[2] UKF