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multi_object_tracker 변경 및 개선 사항

Feb 16, 20243 min read

Contents

Architecture

변경 및 개선 사항

/config/data_association_matrix.yaml

  1. Max_dist_matrix, max_area_matrix 파라미터 수정
    • Original 
      max_dist_matrix:
#UNKNOWN, CAR, TRUCK, BUS, BICYCLE, MOTORBIKE, PEDESTRIAN, ANIMAL
[1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, #UNKNOWN
4.0, 2.0, 5.0, 5.0, 1.0, 1.0, 1.0, 1.0, #CAR
4.0, 2.0, 5.0, 5.0, 1.0, 1.0, 1.0, 1.0, #TRUCK
4.0, 2.0, 5.0, 5.0, 1.0, 1.0, 1.0, 1.0, #BUS
3.0, 1.0, 1.0, 1.0, 3.0, 3.0, 2.0, 1.0, #BICYCLE
3.0, 1.0, 1.0, 1.0, 3.0, 3.0, 2.0, 1.0, #MOTORBIKE
2.0, 1.0, 1.0, 1.0, 3.0, 3.0, 2.0, 1.0, #PEDESTRIAN
1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0] #ANIMAL
 
max_area_matrix:
#UNKNOWN, CAR, TRUCK, BUS, BICYCLE, MOTORBIKE, PEDESTRIAN, ANIMAL
[10000.00, 10000.00, 10000.00, 10000.00, 10000.00, 10000.00, 10000.00, 10000.00, #UNKNOWN
12.10, 12.10, 19.75, 32.40, 10000.00, 10000.00, 10000.00, 10000.00, #CAR
19.75, 12.10, 19.75, 32.40, 10000.00, 10000.00, 10000.00, 10000.00, #TRUCK
32.40, 12.10, 19.75, 32.40, 10000.00, 10000.00, 10000.00, 10000.00, #BUS
2.50, 10000.00, 10000.00, 10000.00, 1.50, 1.50, 1.00, 10000.00, #BICYCLE
3.00, 10000.00, 10000.00, 10000.00, 1.50, 1.50, 1.00, 10000.00, #MOTORBIKE
2.00, 10000.00, 10000.00, 10000.00, 1.50, 1.50, 1.00, 10000.00, #PEDESTRIAN
2.00, 10000.00, 10000.00, 10000.00, 10000.00, 10000.00, 10000.00, 10000.00] #ANIMAL
    • Ours 
      max_dist_matrix:
#UNKNOWN, CAR, TRUCK, BUS, BICYCLE, MOTORBIKE, PEDESTRIAN, ANIMAL
[1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, #UNKNOWN
4.0, 2.0, 7.0, 7.0, 1.0, 1.0, 1.0, 1.0, #CAR
4.0, 2.0, 7.0, 7.0, 1.0, 1.0, 1.0, 1.0, #TRUCK
4.0, 2.0, 7.0, 7.0, 1.0, 1.0, 1.0, 1.0, #BUS
3.0, 1.0, 1.0, 1.0, 3.0, 3.0, 2.0, 1.0, #BICYCLE
3.0, 1.0, 1.0, 1.0, 3.0, 3.0, 2.0, 1.0, #MOTORBIKE
2.0, 1.0, 1.0, 1.0, 3.0, 3.0, 2.0, 1.0, #PEDESTRIAN
1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0] #ANIMAL
 
max_area_matrix:
#UNKNOWN, CAR, TRUCK, BUS, BICYCLE, MOTORBIKE, PEDESTRIAN, ANIMAL
[10000.00, 10000.00, 10000.00, 10000.00, 10000.00, 10000.00, 10000.00, 10000.00, #UNKNOWN
13.80, 13.80, 53.55, 53.55, 10000.00, 10000.00, 10000.00, 10000.00, #CAR
53.55, 13.80, 53.55, 53.55, 10000.00, 10000.00, 10000.00, 10000.00, #TRUCK
53.55, 13.80, 53.55, 53.55, 10000.00, 10000.00, 10000.00, 10000.00, #BUS
3.00, 10000.00, 10000.00, 10000.00, 3.00, 3.00, 1.00, 10000.00, #BICYCLE
3.00, 10000.00, 10000.00, 10000.00, 3.00, 3.00, 1.00, 10000.00, #MOTORBIKE
3.00, 10000.00, 10000.00, 10000.00, 3.00, 3.00, 1.00, 10000.00, #PEDESTRIAN
3.00, 10000.00, 10000.00, 10000.00, 10000.00, 10000.00, 10000.00, 10000.00] #ANIMAL

/src/tracker/model/bicycle_tracker.cpp

  1. 파라미터 변경
    • Original 
      max_wz_ = autoware_utils::deg2rad(30); // [rad/s]
    • Ours 
      max_wz_ = autoware_utils::deg2rad(60); // [rad/s]

/src/tracker/model/pedestrian_tracker.cpp

  1. 파라미터 변경
    • Original 
      max_vx_ = autoware_utils::kmph2mps(10); // [m/s]
    • Ours 
      max_vx_ = autoware_utils::kmph2mps(20); // [m/s]

/src/node.cpp

  1. NaN filtering 추가 적용
    • Original None
    • Ours Output msg에서 INF, NaN값 필터링 추가

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