imm_ukf_pda_track won't track static objects
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
I am using the default parameters of imm_ukf_pda_track. Maybe I need to adjust them?
What other nodes are you running? This is an old page desribing the pda tracker link text
Your ground filter may not be set up properly which would prevent the tracker from being able to tell the difference between object or ground when static