feat(multi_object_tracker): add object class filtering in tracking process #6607
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…ocess (autowarefoundation#6607) * feat: object class filter Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> * fix: set a member private Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> * fix: last filtered label is not useful, remove Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> * style(pre-commit): autofix Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> * fix: multiply gain for new class Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> * style(pre-commit): autofix Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> * chore: algorithm explanation Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> * fix: revise the filtering process flow Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> --------- Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
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…ocess (autowarefoundation#6607) * feat: object class filter Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> * fix: set a member private Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> * fix: last filtered label is not useful, remove Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> * style(pre-commit): autofix Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> * fix: multiply gain for new class Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> * style(pre-commit): autofix Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> * chore: algorithm explanation Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> * fix: revise the filtering process flow Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> --------- Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
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…ocess (autowarefoundation#6607) * feat: object class filter Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> * fix: set a member private Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> * fix: last filtered label is not useful, remove Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> * style(pre-commit): autofix Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> * fix: multiply gain for new class Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> * style(pre-commit): autofix Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> * chore: algorithm explanation Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> * fix: revise the filtering process flow Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> --------- Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
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…ocess (autowarefoundation#6607) * feat: object class filter Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> * fix: set a member private Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> * fix: last filtered label is not useful, remove Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> * style(pre-commit): autofix Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> * fix: multiply gain for new class Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> * style(pre-commit): autofix Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> * chore: algorithm explanation Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> * fix: revise the filtering process flow Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> --------- Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Signed-off-by: kaigohirao <kaigo.hirao@proxima-ai-tech.com>
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…ocess (autowarefoundation#6607) * feat: object class filter Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> * fix: set a member private Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> * fix: last filtered label is not useful, remove Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> * style(pre-commit): autofix Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> * fix: multiply gain for new class Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> * style(pre-commit): autofix Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> * chore: algorithm explanation Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> * fix: revise the filtering process flow Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> --------- Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
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…ocess (autowarefoundation#6607) * feat: object class filter Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> * fix: set a member private Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> * fix: last filtered label is not useful, remove Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> * style(pre-commit): autofix Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> * fix: multiply gain for new class Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> * style(pre-commit): autofix Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> * chore: algorithm explanation Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> * fix: revise the filtering process flow Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> --------- Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
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Description
The current object tracker uses the incoming classification directly.
When the detection has ambiguous classification, the classification result may changes in a short time.
Frequent classification change may have negative impact on the tracked object consumers (planner).
In this PR, a simple classification filter is introduced.
// 0. Normalize the input classification
// 1-1. Update the matched classification probability with a gain (ratio of 0.05)
// 1-2. If the label is not found, add it to the classification list
// 2. Remove the class with probability < remove_threshold (0.001)
// 3. Normalize tracking classification
Related links
TIER IV INTERNAL
Tests performed
xx1-class-filter-implemented-bicycle-pedestrian.mp4
Blue: Detected Object (input)
Yellow: Tracked Object (output)
The result shows the highest probable label is change only when the detection label is changed for a while.
Notes for reviewers
This PR do not improve performance of detection classification.
Interface changes
Not Applicable
Effects on system behavior
Not Applicable
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