where did you use the velocity state? about ab3dmot

[Po-Jen]

It's embedded in the state transition matrix, look closely at the

AB3DMOT/AB3DMOT_libs/kalman_filter.py

Line 18 in d45e83c

self.kf.F = np.array([[1,0,0,0,0,0,0,1,0,0], # state transition matrix

, it means x_t+1 = x_t + vx_t.

x_t+1 = x_t + vx_t is done in the prediction step at

AB3DMOT/AB3DMOT_libs/kalman_filter.py

Line 122 in d45e83c

self.kf.predict()

, which calls https://filterpy.readthedocs.io/en/latest/_modules/filterpy/kalman/kalman_filter.html#KalmanFilter.predict.

[xinshuoweng]

Yes, it is correct that the velocity is used in the state prediction stage:

AB3DMOT/AB3DMOT_libs/model.py

Line 224 in 8c17f16

def prediction(self):