fix(multi_object_tracking): mot bicycle model revision, tracking_object_merger bugfix #1154
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…ation#6082) * fix: bicycle model length on big vehicle Signed-off-by: Taekjin LEE <[email protected]> * fix: rear axis position fix in all modalities Signed-off-by: Taekjin LEE <[email protected]> * fix: repeat predict to limit dt Signed-off-by: Taekjin LEE <[email protected]> * fix: implement repeating prediction to all modalities Signed-off-by: Taekjin LEE <[email protected]> * fix: bicycle model revision Signed-off-by: Taekjin LEE <[email protected]> * fix: fix centripetal acceleration, jacobian Signed-off-by: Taekjin LEE <[email protected]> * style(pre-commit): autofix Signed-off-by: Taekjin LEE <[email protected]> * chore: equation on description, velocity index fix Signed-off-by: Taekjin LEE <[email protected]> * fix: markdown math Signed-off-by: Taekjin LEE <[email protected]> * chore: refactor params Signed-off-by: Taekjin LEE <[email protected]> * feat: model slip process rate Signed-off-by: Taekjin LEE <[email protected]> * feat: yaw rate limits Signed-off-by: Taekjin LEE <[email protected]> * chore: refactor vx to vel, follow actual definition Signed-off-by: Taekjin LEE <[email protected]> * fix: acceleration uncertainty equation fix Signed-off-by: Taekjin LEE <[email protected]> * fix: twist covariance matrix Signed-off-by: Taekjin LEE <[email protected]> * chore: explanations of Kalman filter matrices Signed-off-by: Taekjin LEE <[email protected]> * feat: slip angle process noise model revised Signed-off-by: Taekjin LEE <[email protected]> * feat: parameter tuning Signed-off-by: Taekjin LEE <[email protected]> * fix: use mahalanobis distance gate with larger threshold Signed-off-by: Taekjin LEE <[email protected]> * chore: align tracker format Signed-off-by: Taekjin LEE <[email protected]> * style(pre-commit): autofix --------- Signed-off-by: Taekjin LEE <[email protected]> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Yoshi Ri <[email protected]> Co-authored-by: Kotaro Yoshimoto <[email protected]>
…o-center length (autowarefoundation#6337) * fix: bicycle motion model - set minimum wheel-to-center length for stability Signed-off-by: Taekjin LEE <[email protected]> * chore: align comments Signed-off-by: Taekjin LEE <[email protected]> --------- Signed-off-by: Taekjin LEE <[email protected]>
…towarefoundation#6343) * fix: tune parameters for pedestrian initial covariances and process noise Signed-off-by: Taekjin LEE <[email protected]> * chore: refactoring comments, aligning trackers Signed-off-by: Taekjin LEE <[email protected]> --------- Signed-off-by: Taekjin LEE <[email protected]>
technolojin
changed the title
…rdinate system (autowarefoundation#6457) fix(tracking_object_merger): merge velocity base on target object coordinate Signed-off-by: Taekjin LEE <[email protected]>
YoshiRi
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Mar 14, 2024
fix(multi_object_tracking): mot bicycle model revision, tracking_object_merger bugfix
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Description
cherry-picks of multi_object_tracking
autowarefoundation#6082
autowarefoundation#6337
autowarefoundation#6343
cherry-pick of tracking_object_merger
autowarefoundation#6457
Related links
fix for following issues
https://tier4.atlassian.net/browse/RT1-4914
https://tier4.atlassian.net/browse/RT1-5207
https://tier4.atlassian.net/browse/RT1-5343
https://tier4.atlassian.net/browse/RT1-5257
Tests performed
Notes for reviewers
Interface changes
Effects on system behavior
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