[Feature] Robust Adaptive UKF #1685
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yn-mrse
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Dec 17, 2018
...erception/detection/lidar_tracker/packages/lidar_imm_ukf_pda_track/nodes/imm_ukf_pda/ukf.cpp
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yn-mrse
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Dec 17, 2018
...erception/detection/lidar_tracker/packages/lidar_imm_ukf_pda_track/nodes/imm_ukf_pda/ukf.cpp
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yn-mrse
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Thank you for suggestions! All fixed by commit 92de884. |
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@cirpue49 Looks good to me. |
sgermanserrano
suggested changes
Jan 30, 2019
| z_pred = z_pred + weights_s_(i) * z_sig.col(i); | ||
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| Eigen::MatrixXd s; |
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@cirpue49 The CI error comes from this block, s is being initialized by Eigen::VectorXd shouldn't it be Eigen::MatrixXd?
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You are right.
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17 tasks
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@k0suke-murakami Is this going to be merged for 1.11? If not, please fork the repository and make a new pull request from there for it. |
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Thanks, this PR is not going into ver 1.11. |
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Status
DEVELOPMENT
Description
This PR is implementing new feature Robust Adaptive UKF. autowarefoundation/autoware_ai#265
It enables imm_ukf_pda_track to track targets more consistenly.
Check how to launch a new feature.
Todos
Unit tests
Referenced paper
https://www.ncbi.nlm.nih.gov/pubmed/29518960