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Target id increases infinitely during object tracking [autoware_imm_ukf_pda_track]

asked 2019-10-17 03:52:05 -0600

kmjcr7 gravatar image

updated 2019-10-17 04:31:25 -0600

/////////////////////////////////////////// ubuntu 16.04, ROS Kinetic, Autoware ///////////////////////////////////////////

Hi all,

I'm trying to track an object using autoware's imm_ukf_pda. When I track an object using the 'imm_ukf_pda_track.launch' file, the "target_id" of the objects keeps increasing to infinity. Do you know why this is happening? I just changed the topic name of the point cloud to subscribe to.

Even if you modify the values ​​of several parameters in the launch file, the target ID will continue to increase. Do you know why?

The video link : https://drive.google.com/drive/folder...

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answered 2019-10-17 18:14:05 -0600

kosuke_murakami gravatar image

Target id is not increasing in the video you shared. However, there is a chance that target id increases if the detection result has some noise.

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In the video, the target ID is the value in brackets. not cluster id.

kmjcr7 gravatar imagekmjcr7 ( 2019-10-17 20:13:19 -0600 )edit

The reason why target id increases is that tracking fails and treats an object as another object compared with the past object.

kosuke_murakami gravatar imagekosuke_murakami ( 2019-10-17 22:22:08 -0600 )edit

Do you have an idea to fix it? what should I do?

kmjcr7 gravatar imagekmjcr7 ( 2019-10-17 23:32:55 -0600 )edit

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Asked: 2019-10-17 03:52:05 -0600

Seen: 20 times

Last updated: Oct 17