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fix(multi_object_tracker): tune parameters for pedestrian tracker #6343

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technolojin
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@technolojin technolojin commented Feb 7, 2024

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.

  1. Tuning parameters for pedestrian tracker (initial covariance matrix, process noise of turn rate), so that the initial tracking can have larger Kalman gain in the beginning.
  • 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)]

  1. Refactoring comments and line orders to align trackers

Tests performed

Tested on the planning_simulator.

  • Original
psim-pedestrian-original.mp4
  • Modified
psim-pedestrian-tuned.mp4

Effects on system behavior

Not applicable.

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…oise

Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>
Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>
@github-actions github-actions bot added the component:perception Advanced sensor data processing and environment understanding. (auto-assigned) label Feb 7, 2024
@technolojin technolojin marked this pull request as ready for review February 7, 2024 01:12
@technolojin technolojin self-assigned this Feb 7, 2024
@technolojin technolojin added the run:build-and-test-differential Mark to enable build-and-test-differential workflow. (used-by-ci) label Feb 7, 2024
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codecov bot commented Feb 7, 2024

Codecov Report

Attention: 9 lines in your changes are missing coverage. Please review.

Comparison is base (9f1ae6d) 14.86% compared to head (32b9aff) 14.86%.
Report is 3 commits behind head on main.

Files Patch % Lines
...t_tracker/src/tracker/model/pedestrian_tracker.cpp 0.00% 6 Missing ⚠️
...ject_tracker/src/tracker/model/bicycle_tracker.cpp 0.00% 1 Missing ⚠️
..._tracker/src/tracker/model/big_vehicle_tracker.cpp 0.00% 1 Missing ⚠️
...acker/src/tracker/model/normal_vehicle_tracker.cpp 0.00% 1 Missing ⚠️
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     
Flag Coverage Δ *Carryforward flag
differential 0.00% <0.00%> (?)
total 14.87% <ø> (+<0.01%) ⬆️ Carriedforward from 4ff21d1

*This pull request uses carry forward flags. Click here to find out more.

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LGTM. Let's check evaluator results

@technolojin technolojin merged commit cab9d31 into autowarefoundation:main Feb 8, 2024
21 of 23 checks passed
technolojin added a commit to tier4/autoware.universe that referenced this pull request Feb 21, 2024
…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>
StepTurtle pushed a commit to StepTurtle/autoware.universe that referenced this pull request Feb 28, 2024
…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>
karishma1911 pushed a commit to Interplai/autoware.universe that referenced this pull request Jun 3, 2024
…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>
@technolojin technolojin deleted the fix/multi-object-tracker-pedestrian-tuning branch July 26, 2024 02:21
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