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Fan_Xing / UKF_Tracking

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README
MIT

简介

基于UKF的后融合目标追踪,输入为带有噪声的Lidar和Radar的目标检测结果,输出为融合后的目标坐标

UKF的算法实现在src/ukf.cppsrc/ukf.h两个文件中。下图是UKF的大致步骤

如下图所示,绿色为自车,蓝色为被追踪的目标车辆,红色小球表示Lidar目标检测的结果,粉色线段表示Radar检测的结果,绿色小球表示融合后的目标车辆位置,绿色箭头表示融合后的目标车辆速度。


依赖

  • cmake >= 3.0
  • PCL >= 1.2

如何运行

mkdir build
cd build
cmake ..
make
./ukf_highway
MIT License Copyright (c) 2020 Fan_Xing Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files (the "Software"), to deal in the Software without restriction, including without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is furnished to do so, subject to the following conditions: The above copyright notice and this permission notice shall be included in all copies or substantial portions of the Software. THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.

简介

使用无迹卡尔曼滤波,追踪车辆目标 展开 收起
C++ 等 3 种语言
MIT
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