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imm_ukf_pda_track package from autoware_learn repo

amathutils_lib autoware_build_flags autoware_health_checker emergency_handler gnss lanelet2_extension libvectormap libwaypoint_follower map_file object_map op_planner op_ros_helpers op_simu op_utility ros_observer tvm_utility vector_map vector_map_server vehicle_sim_model autoware_connector ekf_localizer gnss_localizer image_processor imm_ukf_pda_track lidar_apollo_cnn_seg_detect lidar_euclidean_cluster_detect lidar_fake_perception lidar_kf_contour_track lidar_localizer lidar_naive_l_shape_detect lidar_point_pillars lidar_shape_estimation naive_motion_predict ndt_cpu ndt_gpu ndt_tku obj_db pcl_omp_registration pixel_cloud_fusion points_downsampler points_preprocessor pos_db range_vision_fusion road_occupancy_processor roi_object_filter trafficlight_recognizer twist_generator vel_pose_diff_checker vision_beyond_track vision_darknet_detect vision_lane_detect vision_segment_enet_detect vision_ssd_detect astar_search costmap_generator decision_maker dp_planner ff_waypoint_follower freespace_planner lane_planner lattice_planner ll2_global_planner mpc_follower op_global_planner op_local_planner op_simulation_package op_utilities pure_pursuit state_machine_lib twist_filter twist_gate way_planner waypoint_maker waypoint_planner autoware_quickstart_examples autoware_can_msgs autoware_config_msgs autoware_external_msgs autoware_lanelet2_msgs autoware_map_msgs autoware_msgs autoware_system_msgs tablet_socket_msgs vector_map_msgs carla_autoware_bridge gazebo_camera_description gazebo_imu_description lgsvl_simulator_bridge vehicle_gazebo_simulation_interface vehicle_gazebo_simulation_launcher wf_simulator autoware_bag_tools autoware_camera_lidar_calibrator autoware_launcher autoware_launcher_rviz calibration_publisher data_preprocessor graph_tools kitti_box_publisher kitti_launch kitti_player lanelet_aisan_converter log_tools map_tf_generator map_tools marker_downsampler mqtt_socket multi_lidar_calibrator oculus_socket pc2_downsampler rosbag_controller runtime_manager sound_player system_monitor tablet_socket twist2odom udon_socket vehicle_engage_panel vehicle_socket decision_maker_panel detected_objects_visualizer fastvirtualscan gazebo_world_description glviewer integrated_viewer points2image rosinterface autoware_rviz_plugins vehicle_description vehicle_model adi_driver as autoware_driveworks_gmsl_interface autoware_driveworks_interface vlg22c_cam custom_msgs garmin hokuyo javad_navsat_driver kvaser sick_lms5xx memsic_imu microstrain_driver nmea_navsat autoware_pointgrey_drivers sick_ldmrs_description sick_ldmrs_driver sick_ldmrs_laser sick_ldmrs_msgs sick_ldmrs_tools vectacam xsens_driver ymc ds4 ds4_driver ds4_msgs lanelet2 lanelet2_core lanelet2_examples lanelet2_io lanelet2_maps lanelet2_matching lanelet2_projection lanelet2_python lanelet2_routing lanelet2_traffic_rules lanelet2_validation mrt_cmake_modules

API Docs
Browse Code

Package Summary

Tags No category tags.
Version 1.12.0
License Apache 2
Build type CATKIN
Use RECOMMENDED

Repository Summary

Description autoware src learn and recode.
Checkout URI https://github.com/is-whale/autoware_learn.git
VCS Type git
VCS Version 1.14
Last Updated 2025-03-14
Dev Status UNKNOWN
CI status No Continuous Integration
Released UNRELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

imm_ukf_pda_track package

Additional Links

No additional links.

Maintainers

  • Kosuke Murakami

Authors

No additional authors.
autoware/core_perception/imm_ukf_pda_track/README.md

IMM-UKF-PDA Tracker

Autoware package based on IMM-UKF-PDA tracker.

  • From a sourced terminal:

roslaunch lidar_tracker imm_ukf_pda_tracker.launch

  • From Runtime Manager:

Computing Tab -> Detection/ lidar_detector -> imm_ukf_pda_tracker

Reference

A. Arya Senna Abdul Rachman, 3D-LIDAR Multi Object Tracking for Autonomous Driving. 2017. paper

M. Schreire, Bayesian environment representation, prediction, and criticality assessment for driver assistance systems. 2017. paper

Requirements

  • eucledian_cluster node.
  • ray_ground_filter node.
  • /tf topic. Below video is from Suginami data which contais /tf topic: (autoware-20180205150908.bag). You can download it from ROSBAG STORE for free. Otherwise, you need to do localization with a map to produce /tf topic from velodyne to world.
  • wayarea info from vectormap if is possible.

Parameters

Launch file available parameters for imm_ukf_pda_tracker

Parameter Type Description
tracker_input_topic String Input topic(type: autoware_msgs::CloudClusterArray). Default /cloud cluster.
tracker_output_topic String Output topic(type: autoware_msgs::CloudClusterArray). Default /tracking_cluster_array.
life_time_threshold Int The minimum frames for targets to be visualized. Default 8.
gating_threshold Double The value of gate threshold for measurement validation. Default 9.22.
gate_probability Double The probability that the gate contains the true measurement. Default 0.99.
detection_probability Double The probability that a target is detected. Default 0.9.
merge_distance_threshold Double The distance threshold for associating bounding box over frames. Default 0.5.
static_velocity_threshold Double The velocity threshold for classifying static/dynamic. Default 0.5.
static_num_history_threshold Int The amount of frames the velocity is averaged over to compare to static_velocity_threshold. Default 3.
prevent_explosion_threshold Double The threshold for stopping kalman filter update. Default 1000.
use_sukf bool Use standard kalman filter. Default false.

Launch file available parameters for visualize_detected_objects

Parameter Type Description
input_topic String Input topic(type: autoware_msgs::CloudClusterArray). Default /tracking_cluster_array.
pointcloud frame String Pointcloud frame. Default velodyne.

Subscribed topics

Node: imm_ukf_pda_tracker

Topic Type Objective
/detection/lidar_objects autoware_msgs::DetectedObjectArray Segmented pointcloud from a clustering algorithm like eucledian cluster.
/tf tf Tracking objects in world coordinate.

Node: visualize_detected_objects

Topic Type Objective
/detected_objects autoware_msgs::DetectedObjectArray Objects with tracking info.

Published topics

Node: imm_ukf_pda_tracker

Topic Type Objective
/detected_objects autoware_msgs::DetectedObjectArray Added info like velocity, yaw ,yaw_rate and static/dynamic class to DetectedObject msg.
/bounding_boxes_tracked jsk_recognition_msgs::BoundingBoxArray Visualze bounsing box nicely in rviz by JSK bounding box. Label contains information about static/dynamic class

Node: visualize_detected_objects

Topic Type Objective
/detected_objects/velocity_arrow visualization_msgs::Marker Visualize velocity and yaw of the targets.
/detected_objects/target_id visualization_msgs::Marker Visualize targets’ id.

Video

IMM UKF PDA lidar_tracker Autoware

Benchmark

Please notice that benchmark scripts are in another repository. You can tune parameters by using benchmark based on KITTI dataset. The repository is here.

CHANGELOG

Changelog for package lidar_imm_ukf_pda_track

1.11.0 (2019-03-21)

  • [fix] Install commands for all the packages (#1861)
    • Initial fixes to detection, sensing, semantics and utils
    • fixing wrong filename on install command
    • Fixes to install commands
    • Hokuyo fix name
    • Fix obj db
    • Obj db include fixes
    • End of final cleaning sweep
    • Incorrect command order in runtime manager
    • Param tempfile not required by runtime_manager
      • Fixes to runtime manager install commands
    • Remove devel directory from catkin, if any
    • Updated launch files for robosense
    • Updated robosense
    • Fix/add missing install (#1977)
    • Added launch install to lidar_kf_contour_track
    • Added install to op_global_planner
    • Added install to way_planner
    • Added install to op_local_planner
    • Added install to op_simulation_package
    • Added install to op_utilities
    • Added install to sync
      • Improved installation script for pointgrey packages
    • Fixed nodelet error for gmsl cameras
    • USe install space in catkin as well
    • add install to catkin
    • Fix install directives (#1990)
    • Fixed installation path
    • Fixed params installation path
    • Fixed cfg installation path
    • Delete cache on colcon_release
  • Fix license notice in corresponding package.xml
  • check for valid object before prediction
  • Adaptation of Object Filter with new perception workflow
  • Initial release of object filter
  • Contributors: Abraham Monrroy, Abraham Monrroy Cano, amc-nu

1.10.0 (2019-01-17)

  • Fixes for catkin_make
  • Switch to Apache 2 license (develop branch) (#1741)
    • Switch to Apache 2

    * Replace BSD-3 license header with Apache 2 and reassign copyright to the Autoware Foundation.

    • Update license on Python files
    • Update copyright years
    • Add #ifndef/define _POINTS_IMAGE_H_
    • Updated license comment
  • Use colcon as the build tool (#1704)
    • Switch to colcon as the build tool instead of catkin
    • Added cmake-target
    • Added note about the second colcon call
    • Added warning about catkin* scripts being deprecated
    • Fix COLCON_OPTS
    • Added install targets
    • Update Docker image tags
    • Message packages fixes
    • Fix missing dependency
  • Feature/perception visualization cleanup (#1648)
      • Initial commit for visualization package
    • Removal of all visualization messages from perception nodes
    • Visualization dependency removal
    • Launch file modification
      • Fixes to visualization
    • Error on Clustering CPU
    • Reduce verbosity on markers
    • intial commit
      • Changed to 2 spaces indentation
    • Added README
    • Fixed README messages type
    • 2 space indenting
    • ros clang format
    • Publish acceleration and velocity from ukf tracker
    • Remove hardcoded path
    • Updated README
    • updated prototype
    • Prototype update for header and usage
    • Removed unknown label from being reported
    • Updated publishing orientation to match develop
      • Published all the trackers
    • Added valid field for visualization and future compatibility with ADAS ROI filtering
    • Add simple functions
    • Refacor code
      • Reversed back UKF node to develop
    • Formatted speed
    • Refactor codes
    • Refactor codes
    • Refactor codes
    • Refacor codes
    • Make tracking visualization work
    • Relay class info in tracker node
    • Remove dependency to jskbbox and rosmarker in ukf tracker
    • apply rosclang to ukf tracker
    • Refactor codes
    • Refactor codes
    • add comment
    • refactor codes

    * Revert "Refactor codes" This reverts commit 135aaac46e49cb18d9b76611576747efab3caf9c. * Revert "apply rosclang to ukf tracker" This reverts commit 4f8d1cb5c8263a491f92ae5321e5080cb34b7b9c. * Revert "Remove dependency to jskbbox and rosmarker in ukf tracker" This reverts commit 4fa1dd40ba58065f7afacc5e478001078925b27d. * Revert "Relay class info in tracker node" This reverts commit 1637baac44c8d3d414cc069f3af12a79770439ae.

    • delete dependency to jsk and remove pointcloud_frame
    • get direction nis
    • set velocity_reliable true in tracker node
    • Add divided function
    • add function
    • Sanity checks
    • Relay all the data from input DetectedObject
    • Divided function work both for immukf and sukf
    • Add comment
    • Refactor codes
    • Pass immukf test
    • make direction assisted tracking work
    • Visualization fixes
    • Refacor codes
    • Refactor codes
    • Refactor codes
    • refactor codes
    • refactor codes
    • Refactor codes
    • refactor codes
    • Tracker Merging step added
    • Added launch file support for merging phase
    • lane assisted with sukf
    • Refactor codes
    • Refactor codes
      • change only static objects
    • keep label of the oldest tracker
    • Static Object discrimination
    • Non rotating bouding box
    • no disappear if detector works
    • Modify removeRedundant a bit
    • Replacement of JSK visualization for RViz Native Markers
    • Added Models namespace to visualization
    • Naming change for matching the perception component graph
      • Added 3D Models for different classes in visualization
    • 2D Rect node visualize_rects added to visualization_package
  • Fix Ros/ROS naming convention
  • [Feature] Tracking accuracy can be measured by KITTI data (#1671)
  • Contributors: Abraham Monrroy Cano, Esteve Fernandez, Kosuke Murakami, amc-nu

1.9.1 (2018-11-06)

1.9.0 (2018-10-31)

  • [Feature] Prediction package template (naive_motion_predictor) (#1616)
  • [Feature] DetectedObject type immukfpda (#1582)
  • [Feature]naive l shape fitting and a little modification on immukfpda launch file(#1457)
  • Contributors: Kosuke Murakami

1.8.0 (2018-08-31)

  • [Fix] Moved C++11 flag to autoware_build_flags (#1395)
  • [Feature] Makes sure that all binaries have their dependencies linked (#1385)
  • Contributors: Esteve Fernandez

1.7.0 (2018-05-16)

  • Add code in cmakelists
  • update Version from 1.6.3 to 1.7.0 in package.xml and CHANGELOG.rst
  • Remove history of sub-branches
  • Add automatically-generated CHANGELOG.rst
  • [Fix] rename packages (#1269)
    • rename lidar_tracker
    • Modify pf_lidar_track's cmake file
    • Refactor code
    • Rename from euclidean_lidar_tracker to lidar_euclidean_track
    • Rename from kf_contour_track to lidar_kf_contour_track
    • Rename from kf_lidar_track to lidar_kf_track, but need some modification in euclidean cluster(Cluster.h)
    • Rename from pf_lidar_tarck to lidar_pf_track
    • Rename range_fusion
    • Rename obj_reproj
    • Rename euclidean_cluster to lidar_euclidean_cluster_detect
    • Rename svm_lidar_detect to lidar_svm_detect
    • Rename kf_lidar_track to lidar_kf_track
    • Change version 1.6.3 to 1.7.0 in pacakge.xml
    • Modify CMake so that extrenal header would be loaded
    • Remove obj_reproj from cv_tracker
    • Add interface.yaml
    • Rename road_wizard to trafficlight_recognizer
    • create common directory
    • Add lidar_imm_ukf_pda_track
    • create vision_detector and moved cv
    • Modify interface.yaml and package.xml
    • remove dpm_ocv
    • moved directory
    • Delete unnecessary launch file
    • Delete rcnn related file and code
    • separated dummy_track from cv_tracker
    • separated klt_track from cv_tracker
    • Fix a cmake
    • Remove unnecessary dependency of lidar_euclidean_cluster_detect package
    • Rename image_segmenter to vision_segment_enet_detect
    • Remove unnecessary dependency of lidar_svm_detect package
    • separated kf_track and fix a some compiling issue
    • move viewers
    • merge ndt_localizer and icp_localizer, and rename to lidar_localizer
    • Remove unnecessary dependency of lidar_euclidean_track
    • moved image lib
    • add launch
    • lib move under lidar_tracker
    • Rename dpm_ttic to vision_dpm_ttic_detect
    • rename yolo3detector to vision_yolo3_detect
    • Modify cmake and package.xml in vision_dpm_ttic_detect
    • moved sourcefiles into nodes dir
    • moved sourcefiles into nodes dir
    • Move cv_tracker/data folder and delete cv_tracker/model folder
    • fix a package file and cmake
    • Rename yolo2 -> vision_yolo2_detect
    • fix a package file and cmake
    • Fix package name of launch file
    • Rename ssd to vision_ssd_detect
    • fixed cmake and package for decerese dependencies
    • remove top packages dir for detection
    • fixed cmake for cuda
    • Rename lane_detector to vision_lane_detect
    • Modify package.xml in lidar-related packages
    • Remove unnecessary dependencies in lidar_detector and lidar_tracker
    • Modify computing.yaml for dpm_ttic
    • Modify dpm_ttic launch file
    • Remove/Add dependencies to trafficlight_recognizer
    • Update data folder in dpm_ttic
    • Modified CMake and package file in dpm_ttic.
    • Remove src dir in imm_ukf_pda_track
    • removed unnecessary comments
    • rename lidar_tracker
    • Modify pf_lidar_track's cmake file
    • Refactor code
    • Rename from euclidean_lidar_tracker to lidar_euclidean_track
    • Rename from kf_contour_track to lidar_kf_contour_track
    • Rename from kf_lidar_track to lidar_kf_track, but need some modification in euclidean cluster(Cluster.h)
    • Rename from pf_lidar_tarck to lidar_pf_track
    • Rename range_fusion
    • Rename obj_reproj
    • Rename road_wizard to trafficlight_recognizer
    • Rename euclidean_cluster to lidar_euclidean_cluster_detect
    • Rename svm_lidar_detect to lidar_svm_detect
    • Rename kf_lidar_track to lidar_kf_track
    • Change version 1.6.3 to 1.7.0 in pacakge.xml
    • Modify CMake so that extrenal header would be loaded
    • Remove obj_reproj from cv_tracker
    • Add interface.yaml
    • create common directory
    • Add lidar_imm_ukf_pda_track
    • create vision_detector and moved cv
    • Modify interface.yaml and package.xml
    • remove dpm_ocv
    • moved directory
    • Delete unnecessary launch file
    • Delete rcnn related file and code
    • separated dummy_track from cv_tracker
    • separated klt_track from cv_tracker
    • Fix a cmake
    • Remove unnecessary dependency of lidar_euclidean_cluster_detect package
    • Rename image_segmenter to vision_segment_enet_detect
    • Remove unnecessary dependency of lidar_svm_detect package
    • separated kf_track and fix a some compiling issue
    • move viewers
    • merge ndt_localizer and icp_localizer, and rename to lidar_localizer
    • Remove unnecessary dependency of lidar_euclidean_track
    • moved image lib
    • add launch
    • lib move under lidar_tracker
    • Rename dpm_ttic to vision_dpm_ttic_detect
    • rename yolo3detector to vision_yolo3_detect
    • Modify cmake and package.xml in vision_dpm_ttic_detect
    • moved sourcefiles into nodes dir
    • moved sourcefiles into nodes dir
    • Move cv_tracker/data folder and delete cv_tracker/model folder
    • fix a package file and cmake
    • Rename yolo2 -> vision_yolo2_detect
    • fix a package file and cmake
    • Fix package name of launch file
    • Rename ssd to vision_ssd_detect
    • fixed cmake and package for decerese dependencies
    • remove top packages dir for detection
    • fixed cmake for cuda
    • Rename lane_detector to vision_lane_detect
    • Modify package.xml in lidar-related packages
    • Remove unnecessary dependencies in lidar_detector and lidar_tracker
    • Modify computing.yaml for dpm_ttic
    • Modify dpm_ttic launch file
    • Remove/Add dependencies to trafficlight_recognizer
    • Update data folder in dpm_ttic
    • Modified CMake and package file in dpm_ttic.
    • Remove src dir in imm_ukf_pda_track
    • Fix bug for not starting run time manager
    • Remove invalid dependency
  • Contributors: Kenji Funaoka, Kosuke Murakami

1.6.3 (2018-03-06)

1.6.2 (2018-02-27)

1.6.1 (2018-01-20)

1.6.0 (2017-12-11)

1.5.1 (2017-09-25)

1.5.0 (2017-09-21)

1.4.0 (2017-08-04)

1.3.1 (2017-07-16)

1.3.0 (2017-07-14)

1.2.0 (2017-06-07)

1.1.2 (2017-02-27 23:10)

1.1.1 (2017-02-27 22:25)

1.1.0 (2017-02-24)

1.0.1 (2017-01-14)

1.0.0 (2016-12-22)

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Package Dependencies

Deps Name
autoware_build_flags
catkin
autoware_msgs
amathutils_lib
pcl_ros
roscpp
roslint
tf
vector_map
lanelet2_extension

System Dependencies

No direct system dependencies.

Dependant Packages

Name Deps
naive_motion_predict

Launch files

  • launch/imm_ukf_pda_track.launch
      • namespace [default: tracking]
      • tracker_input_topic [default: /detection/objects]
      • tracker_output_topic [default: objects]
      • detection_probability [default: 0.9]
      • gate_probability [default: 0.99]
      • gating_threshold [default: 9.22]
      • life_time_threshold [default: 8]
      • merge_distance_threshold [default: 0.5]
      • prevent_explosion_threshold [default: 1000]
      • static_num_history_threshold [default: 3]
      • static_velocity_threshold [default: 0.5]
      • tracking_frame [default: map]
      • use_sukf [default: false]
      • use_map_info [default: false]
      • map_frame [default: map]
      • lane_direction_chi_threshold [default: 2.71]
      • nearest_lane_distance_threshold [default: 1.0]
  • launch/imm_ukf_pda_track_option.launch
      • use_ll2 [default: false]
      • namespace [default: tracking]
      • tracker_input_topic [default: /detection/objects]
      • tracker_output_topic [default: objects]
      • detection_probability [default: 0.9]
      • gate_probability [default: 0.99]
      • gating_threshold [default: 9.22]
      • life_time_threshold [default: 8]
      • merge_distance_threshold [default: 0.5]
      • prevent_explosion_threshold [default: 1000]
      • static_num_history_threshold [default: 3]
      • static_velocity_threshold [default: 0.5]
      • tracking_frame [default: map]
      • use_sukf [default: false]
      • use_map_info [default: false]
      • map_frame [default: map]
      • lane_direction_chi_threshold [default: 2.71]
      • nearest_lane_distance_threshold [default: 1.0]
  • launch/imm_ukf_pda_track_lanelet2.launch
      • namespace [default: tracking]
      • tracker_input_topic [default: /detection/objects]
      • tracker_output_topic [default: objects]
      • detection_probability [default: 0.9]
      • gate_probability [default: 0.99]
      • gating_threshold [default: 9.22]
      • life_time_threshold [default: 8]
      • merge_distance_threshold [default: 0.5]
      • prevent_explosion_threshold [default: 1000]
      • static_num_history_threshold [default: 3]
      • static_velocity_threshold [default: 0.5]
      • tracking_frame [default: map]
      • use_sukf [default: false]
      • use_map_info [default: false]
      • map_frame [default: map]
      • lane_direction_chi_threshold [default: 2.71]
      • nearest_lane_distance_threshold [default: 1.0]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged imm_ukf_pda_track at Robotics Stack Exchange

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