Multi-Object-Tracking

A fast object tracking method by using JPDA-IMM-UKF.

Tracking Result

[youtube link] [bilibili link]

Introduction

This project combine JPDA, IMM(CV,CTRV,CTRA) and UKF to achieve a fast object tracking method.

Requirements

ROS
pcl
boost
Eigen

How to use

Download the kitti tracking dataset

For number 0020,orgnaize the data as follows:
```
└── tracking0020
├── calib
├── image_2
├── lable_02
├── oxts
└── velodyne
```
Change the data path in launch file.
Build the code
```
 catkin_make
```

Run

source devel/setup.bash
roslaunch track.launch

Reference

[1] JPDA

[2] UKF