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feat(multi_object_tracker): change vehicle model from constant velocity and turn rate model to bicycle model #2679
feat(multi_object_tracker): change vehicle model from constant velocity and turn rate model to bicycle model #2679
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Signed-off-by: yoshiri <[email protected]>
Signed-off-by: yoshiri <[email protected]>
We still have the following TODOs regarding this feature, but I thought that it is better to improve the tracking behavior as soon as possible, so I have created a PR for the time being.
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Codecov ReportBase: 11.39% // Head: 11.35% // Decreases project coverage by
Additional details and impacted files@@ Coverage Diff @@
## main #2679 +/- ##
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- Coverage 11.39% 11.35% -0.05%
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Files 1279 1279
Lines 89170 89491 +321
Branches 23587 23587
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Hits 10161 10161
- Misses 68239 68560 +321
Partials 10770 10770
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LGTM
…ty and turn rate model to bicycle model (autowarefoundation#2679) * try bicycle model Signed-off-by: yoshiri <[email protected]> * apply bicycle model to bicycle tracker Signed-off-by: yoshiri <[email protected]> Signed-off-by: yoshiri <[email protected]>
…ty and turn rate model to bicycle model (autowarefoundation#2679) * try bicycle model Signed-off-by: yoshiri <[email protected]> * apply bicycle model to bicycle tracker Signed-off-by: yoshiri <[email protected]> Signed-off-by: yoshiri <[email protected]> Signed-off-by: Alexey Panferov <[email protected]>
Description
Applied bicycle model to avoid unnecessarily yaw rotation when the estimated object speed is small.
Related links
Tests performed
Before
mock_orig_bike-2023-01-18_14.13.47.mp4
After
mock_fix_bike-2023-01-18_17.10.15.mp4
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