Imm_ukf_pda tracking

I am very new to autoware. Can any one tell me regarding usage of immukfpda tracking algorithm. In the algorithm when i enable the use_sukf. racking id’s are stable for static aswell as for the dynamic objetcs.

But when we disables the use_sukf Track id’s for the dynamic or moving objects is keep on changing.

what is the differnce between using predictionSUKF() function and predictionIMMUKF() function.

I am using ubuntu 16.04 ros kinetic and autoware version 1.11.0

Asked by sai7077 on 2019-05-15 21:43:36 UTC

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Answers

SUKF stands for Standard Uncsented Kalman Filter, which uses only one motion model. This is a basic implementation of UKF.

On the other hand, IMMUKF assumes three motion models.

Regarding IMMUKF, please check this paper.

I would appreciate if you could put autoware tag on this question.

Asked by kosuke_murakami on 2019-05-20 04:49:48 UTC