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