xuepeixin / ekf-imm

An EKF filter based Interacting Multiple Model applied in 2D object maneuver modeling.

An EKF filter based Interacting Multiple Model applied in 2D object maneuver modeling.

1. CA-CV-CT IMM implementation
2. CTRA model implementation

ekf-imm's Issues

联合概率数据关联

您好，看到您的这个IMM模型写的很好？为了更好地提高跟踪鲁棒性，在多目标跟踪系统中需要加入DA，请问您对联合概率数据关联了解吗？

请教一下：updateonce() 传入的向量v是做什么用的？里面分别是些什么元素？还有angle_mask是做什么用的？

Couldnt find ROS message files

Hello @xuepeixin @xjxpx
Thank you for publishing IMM filter code. I am trying to build code for ROS Noetic with ubuntu 20.04 and I am getting compilation errors for finding header files for ROS messages vec_map_cpp_msgs and path_planning_msgs. Can you please let me know source of these files? I tried to find them online but couldnt find one. Need your urgent help. Thank you!

关于模型CTRA、CTRV在IMM中的应用

作者你好，我想具体请教以下你的这个程序是不是没有将CTRA CTRV这类程序真正的融到IMM模型当中？