Particle Filter for multiple target tracking

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thank you very much for your answer! I'm going to try this :) I'll give you some feedback later!

Hello. Would it be possible to get you e-mail? I ran into some problem :)

I think it's easiest if you just open an issue in the repository. Me or one of the other maintainers will answer there.

Hello, do you know why they aren't just using a linear Kalman Filter, instead of the non-linear filters? It seems to me that they are using a simple linear motion model. Also they don't take the relative motion of the robot into account, which would justify using a non linear approach

The tracker used is more general purpose than just tracking 2D motion. I agree that for this task, a simple Kalman filter would suffice. The extended and unscented one do the same thing with sufficient speed given linear models so I honestly never bothered to add a simple Kalman filter. The robot motion is not taken into account as the tracking is done in the world coordinate frame.

thanks for the quick reply. Maybe the observation model is non-linear? I havent found it yet

It's a simple Cartesian model. The noise is defined here on a per detector basis: https://github.com/strands-project/st...

here they are considering a bearing angle in line 227. This would make the model non linear. But I may be wrong as I haven't figured out how the library is structured..

Do you know if there is any official paper or documentation to this? The only thing I found is https://ieeexplore.ieee.org/abstract/... , where they say that they rely on the world coordinate frame, so they don't need to the the robots motion into account. But they don't give any more details

https://github.com/strands-project/st...