Joint Probabilistic Data Association Tracking (JPDAFTracker)
JPDAFTracker is a tracker based on joint probabilistic data association filtering.
Requirements
- OpenCV
- Eigen
How to build
JPDAFTracker works under Linux environments. I recommend a so-called out of source build which can be achieved by the following command sequence:
- mkdir build
- cd build
- cmake ../
- make -j<number-of-cores+1>
Params
[PD] #DETECTION PROBABILITY
1
[PG] #GATE PROBABILITY
0.4
[LOCAL_GSIGMA] #THRESHOLD OF GATING
15
[LOCAL_ASSOCIATION_COST] #ASSOCIATION COSTS
40
[GLOBAL_GSIGMA] #THRESHOLD OF GATING
0.1
[GLOBAL_ASSOCIATION_COST] #ASSOCIATION COSTS
50
[LAMBDA] #CONSTANT
2
[GAMMA] #G1,G2 INITIAL COVARIANCE P MATRIX
10 10
[R_MATRIX] #2x2 MEASUREMENT NOISE COVARIANCE MATRIX
100 0
0 100
[DT] #dt
0.4
[MIN_ACCPETANCE_RATE] #min rate for convalidating a track
10
[MAX_MISSED_RATE] #max rate for deleting a track
9How to use
Go to the bin diretory and launch the program with the following command:
./jpdaf_tracker ../config/kalman_param.txt /path/to/the/detection_file.txt /path/to/the/image_folder