Repository for the course "Multi-Object Tracking for Automotive Systems" at EDX Chalmers University of Technology
Note: I have completed all assignments in the course and obfuscated key function by using encrypted p files, since it is not allowed to release solution publicly on github, according to EDX policy. Any interest in implementation details will be discussed privately.
Implementation of the following algorithms:
- Nearest Neighbors Filter (NN)
- Probabilistic Data Association Filter (PDA)
- Gaussian Sum Filter (GSF)
The main class is located at SA2/singleobjectracker.m
Simulations can be done using SA2/simulation1.mlx
Implementation of the following algorithms:
- Global Nearest Neighbors Filter (GNN)
- Joint Probabilistic Data Association Filter (JPDA)
- Track-oriented Multiple Hypothesis Tracker (TO-MHT)
The main class is located at SA3/n_objectracker.m
Simulations can be done using SA3/simulation2.mlx
Implementation of the following algorithms:
- Probability Hypothesis Density Filter (PHD)
The main class is located at SA4/PHDfilter.m
Simulations can be done using SA4/simulation3.mlx
Filter output |
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Cardinality Estimation | GOSPA |
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Implementation of the following algorithms:
- Poisson Multi-Bernoulli Mixture filter (PMBM)
The main class is located at SA5/PMBMfilter.m
Simulations can be done using SA5/simulation4.mlx
Filter output |
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Cardinality Estimation | GOSPA |
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