A fast implementation of particle filter dedicaced to multitarget tracking with bearing only measurements. For the multitarget data association problem, a gibbsampler is used to estimate target association probabilities.
Ref : "Sequential Monte-Carlo methods for multple target tracking and data fusion" , Carine. Hue, Jean-Pierre Le Cadre and Patrick Perez, IEEE Transactions on Signal Processing , Vol 50, no 2, 2002
Please mexme_mtbot to compile mex-files on your own plateform.
Run demo_mtbot.m for the demo
Sebastien PARIS (2020). Multitarget Bearing Only Tracking by Particle Filter (https://www.mathworks.com/matlabcentral/fileexchange/22244-multitarget-bearing-only-tracking-by-particle-filter), MATLAB Central File Exchange. Retrieved .
Sorry, I ran the file demo_mtbot but got an error Undefined function or variable 'ndchol'. How can I get this function?
I did not read other users' feedback and your answers. It is running now after following your answers.
P.S Please ignore my early request!
Undefined function or variable 'ndchol'.
Error in obs_mvt (line 78)
Xobs(: , : , t) = Fobs(dt(t - 1))*Xobs(: , : , t - 1) + Uobs(: , : , t - 1) + ndchol( Gobs( dt(t - 1)
).*Qobs ).'*Wobs(: , : , t - 1);
Error in demo_mtbot (line 129)
Xobs = obs_mvt(Xobs_ini , Fobs , Gobs , Qobs , dt , Vobs); %(nx x 1 x T)
Error in run (line 96)
evalin('caller', [script ';']);
thank you sir,the code is very helpful.can i generate all the graphs present in the paper
"Sequential Monte-Carlo methods for multple target tracking and data fusion" , Carine. Hue, Jean-Pierre Le Cadre and Patrick Perez, IEEE Transactions on Signal Processing , Vol 50, no 2, 2002
using the same code?
3QU for sharing.
Oh, I am sorry. I did not notice this was a single project related. I found this forum because I googled my problem, but now I see it has nothing to do with my project. I want to erase my post, but I cant find the delete button.
I experience the same problem as the Cong Zhou. When I try to run:
mex -output freetrack "src/mex_dll_core.c" "src/freetrack_mex_interface.c"
It gives the following error:
Writing library for freetrack.mexw32
c:\docume~1\599013\locals~1\temp\mex_pn~1\mex_dll_core.obj .text: undefined reference to '_max'
I don't really know where to look for a solution for this problem...
Ian : please comple mex-files first by running mexme_mbot (be sure to setup your compiler by : mex -setup)
when i run demo_mtdot.m , it is display "??? Undefined command/function 'ndchol'."also, i use matlab 7.11.0 for win7 system. how can i solve this problem?
yes, i found this funcion. and i copie all of the files into my Matlab Work file. and what i should do next ?
run the file 'obs_mvt'. ?
wang: this function is included in the zip files. Please unzip archive correctly and it should work.
i have run your fil called ''demo_mtbot.m'''
and here is the problem:
Undefined command/function 'obs_mvt'.'
how can i fix it ?
Coool, Sebastien Paris always do the zmazing job
I don't understand what are the initial condition and initial data
Ok, I just update with a new mex compilation function. It should work now on Linux system.
hello, when i run demo_mtdot.m , it is display "??? Undefined command/function 'ndchol'.", i use matlab 7.0 for linux and C++ compiler is gcc-4.2 how can i to solve the problem??? Thanks
Sorry I don't understand your request ?. There is no video input for this demo.
Hello! I've got a question: how can I test your program on the concreet video-file. I want to see by my eyes whow it's work with video
Thank you very much! The problem has been solved.
Did you run "mexme_first" before ?
Which compiler do you use ?
what's wrong with :
mex poisrnd.c matrixjpl.c randomlib.c
There is something wrong with poisrnd.c:
error LNK2001: unresolved external symbol _ignpoi
what is "ignpoi" mean? How to define it?
I also add :"#define max(a,b) ( (a) >= (b) ? (a) : (b) ) " to part_moment.c
now it works~~3q~
Please uncomment #define max ..... line in the top of the particle_resampling.c file
when I run mexmeFIRST , I find this error :
Writing library for particle_resampling.mexw32
c:\users\zhouco~1\appdata\local\temp\mex_220a4168-6f9f-4976-a6ad-9a8555f6430a\particle_resampling.obj .text: undefined reference to '_max'
C:\PROGRA~1\MATLAB\R2007A\BIN\MEX.PL: Error: Link of 'particle_resampling.mexw32' failed.
why this happens?
The correct reference is
Tracking multiple objects with particle filtering
Hue, C.; Le Cadre, J.-P.; Perez, P.;
Aerospace and Electronic Systems, IEEE Transactions on
Volume 38, Issue 3, July 2002 Page(s):791 - 812, isn't it?
Fixed for modern Matlab & OS64
- Add mexme_mtbot. Should compile on Linux system
- Add #define max for LCC compiler ....