imm_ukf_pda_track won't track static objects

asked 2020-05-22 01:56:31 -0500

MochiPan gravatar image

I am using Autoware 1.13 and testing the imm_ukf_pda_track node. I would like to track detected objects from the lidar_cnn_baidu_detect node.

The tracker seems to work fine when detected objects are moving, however the tracker seems not to be able to track static objects. In Rviz, I can see that the lidar detector is correctly detecting static cars, but they won't appear as tracked objects.

For example I have the following situation:

  • I am driving on a 3-lane road -> the vehicles around me are correctly detected and tracked
  • I stop at a traffic light -> the vehicles around me are still detected but disappear from the tracked objects as they stop
  • the traffic light turns green -> the vehicles around me are tracked again

Some screenshots from Rviz:

  • output from lidar detector when all the car are waiting the traffic light. Note that car models are misplaced because there is no orientation information.
  • output from the tracker at the same moment: tracking disappeared as the cars around stopped (they were successfully tracked a few seconds ago)
  • output from the tracker when the traffic light turns green: the car on my left restarts right away and is tracked again image description

I am using the default parameters of imm_ukf_pda_track. Maybe I need to adjust them?

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