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fix(multi_object_tracker): tune parameters for pedestrian tracker #6343
fix(multi_object_tracker): tune parameters for pedestrian tracker #6343
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…oise Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>
Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>
Codecov ReportAttention:
Additional details and impacted files@@ Coverage Diff @@
## main #6343 +/- ##
========================================
Coverage 14.86% 14.86%
========================================
Files 1845 1845
Lines 126697 126544 -153
Branches 37883 37820 -63
========================================
- Hits 18830 18816 -14
+ Misses 86702 86579 -123
+ Partials 21165 21149 -16
*This pull request uses carry forward flags. Click here to find out more. ☔ View full report in Codecov by Sentry. |
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LGTM. Let's check evaluator results
…towarefoundation#6343) * fix: tune parameters for pedestrian initial covariances and process noise Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> * chore: refactoring comments, aligning trackers Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> --------- Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>
…towarefoundation#6343) * fix: tune parameters for pedestrian initial covariances and process noise Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> * chore: refactoring comments, aligning trackers Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> --------- Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>
…towarefoundation#6343) * fix: tune parameters for pedestrian initial covariances and process noise Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> * chore: refactoring comments, aligning trackers Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> --------- Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>
Description
Low performance of initial pedestrian detection was fixed. There was dependency of pedestrian direction, since the initial value of yaw is 0 and this initialization had too much impact.
initial state covariance
p0_stddev_x 1.0 -> 2.0 // positional standard deviation[m]
p0_stddev_y 1.0 -> 2.0 // positional standard deviation[m]
p0_stddev_yaw 1000 // yaw from the ground, not changed [deg]
p0_stddev_vx 5 -> 120 // velocity standard deviation [km/h]
p0_stddev_wz 10 -> 360 // turn rate standard deviation [deg/s]
process noise
q_stddev_wz 20 -> 30 // turn rate changes [deg/(s*s)]
Tests performed
Tested on the
planning_simulator
.psim-pedestrian-original.mp4
psim-pedestrian-tuned.mp4
Effects on system behavior
Not applicable.
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