ulassbin / radar_tracker

Radar tracker node for detecting and association of the data from Continental radar.

radar_tracker (PDA-Branch)

radar_tracker Just run by rosrun radar_estimator radar_estimator_node run the rosbag. The node plays everything on /sensor_visualization topic.

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Documentation of the code is provided in doc folder. Just click the index file there, and an html page for the code will pop up.

radar_tracker's Issues

Filter construction - deconstruction issues

Currently the algorithm is facing several issues with filter handling. Those are:

1. At the start 10 filters are started The image below shows that, in underscore bag. 9 other fields are empty, thus we are starting 9 filters for no reason.
2. No additional filters are generated on the runtime. It is known that there might be more than 10 objects at the time, however sensor provides 10 matches at each time. Given I track N filters, I can compare the new 10 readings to those N filters. For the distinct ones, I can restart a filter by pushing it to the list and directly assigning the values.
3. To handle the filters from scaling indefinitely, I can compare each filter with each other, if their values are close enough I can erase the duplicates.(This might not be the best way to compare in terms of efficiency, this can scale quite fast.)