From f2e6b80b92028ed65228d422b1cfb59bc8197ba5 Mon Sep 17 00:00:00 2001 From: Takayuki Murooka Date: Wed, 16 Aug 2023 11:50:21 +0900 Subject: [PATCH] update doc Signed-off-by: Takayuki Murooka --- perception/multi_object_tracker/models.md | 12 ++++++++++++ 1 file changed, 12 insertions(+) diff --git a/perception/multi_object_tracker/models.md b/perception/multi_object_tracker/models.md index 0f7fc50ed535f..8ca12e3191dc5 100644 --- a/perception/multi_object_tracker/models.md +++ b/perception/multi_object_tracker/models.md @@ -65,6 +65,18 @@ $$ \end{array}\right] $$ +#### remarks on the output twist + +Remarks that the velocity $v_{k}$ is the norm of velocity of vehicle, not the longitudinal velocity. +So the output twist in the object coordinate $(x,y)$ is calculated as follows. + +$$ +\begin{aligned} +v_{x} &= v_{k} \cos \left(\beta_{k}\right) \\ +v_{y} &= v_{k} \sin \left(\beta_{k}\right) +\end{aligned} +$$ + ## Anchor point based estimation To separate the estimation of the position and the shape, we use anchor point based position estimation.