Answered
In trackerGNN, why is the costOfNonAssignment half of the Assignment Threshold?
Because the penalty for not assigning a detection to a track is applied twice - once for the unassigned detection and once for t...

3 years ago | 0

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Answered
Can't change MeasurementNoise value in trackingIMM filter
Hi, In all the tracking filters, the measurement size is non-tunable, because it is needed for code generation. If you want to...

4 years ago | 0

Answered
Where is the non-tunable property 'pStateSize' located in the TOMHT tracker?
Hi, I believe the error would be coming from matlabshared.tracking.internal.fusion.ObjectTrack. This is the internal object tra...

4 years ago | 0

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Answered
Is there a MATLAB solution for merging tracks that are the output of the TOMHT tracker?
Hi Joost, At this time, we have no such functionality. We have considered it in the past but have not had a strong use case or...

4 years ago | 1

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Answered
In the TOMHT tracker, what is exactly the difference between the parameters MaxNumHypotheses and MaxNumTrackBranches?
The main difference is that branches are hypotheses at the track level. They are formed based on the assignment results and main...

4 years ago | 0

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Answered
Is it possible to make MATLAB Coder generate C++ code with tunable parameters?
Joost, If you could please list which parameters you would like to make tunable, we can consider whether it would be possible ...

4 years ago | 0

Answered
Get associated measurement history for trackerGNN?
Yes. You can use [confirmedTracks, ~, ~, info] = tracker(detections, time); Then, in info, you can look for the field Assig...

4 years ago | 0

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Answered
In the TOMHT tracker, how do I change the state vector and add more filters?
The default state depends on the FilterInitializationFcn property, which is initcvekf. initcvekf initializes a constant velocity...

4 years ago | 1

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Answered
How can I implement a multi-track imm tracker with Matlab Coder compatability
There might be several reasons why codegen will not work for this code. For the error you're getting: first make sure that max_...

4 years ago | 0

Answered
Matlab Coder: How can I implement a tracker with seperate functions for initialization and predict/update?
The short answer is - not directly. When you generate code, you cannot pass handle classes to or from the top-level class, which...

4 years ago | 1

Answered
wht kind of toolbox i can use for simulate my drone without any hardware ?
If you're using R2021a, you can use UAV Toolbox.

4 years ago | 0

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Answered
Saving tracking Scenario to .mat file
Chris, If you're using release R2020b or later, you should be able to directly import the scenario object into the tracking sce...

4 years ago | 0

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Answered
Unrecognized field name ptCloudData
Have you used the supporting function to download the supporting data? The first line of the example is: [ptClouds,pretrained...

4 years ago | 0

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Answered
Why doesn't the "sensor fusion and tracking toolbox" have advanced tracking algorithms such as KCF, GOTURN, FairMOT, deepSort?
Hi Cui, To the best of my knowledge, the algorithms you cite are mostly used in vision-based tracking and they are intended for...

4 years ago | 2

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Answered
How to define bespoke MeasurementModel with trackingKF
Hi, The linear Kalman filter, trackingKF, only uses a single measurement matrix, therefore the way to use two different measure...

4 years ago | 0

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Answered
IMU GPS fusion for interial navigation example error - quadcopter error
Based on the screenshot above, you are not in the example path. Please use the command: openExample('shared_positioning/IMUan...

4 years ago | 0

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How to use tracking metrics on filter tracker like the kalman filter tracker (trackingkf)?
Nadya, I am afraid I don't understand the question. The output from the tracker that you want to compare to the truth using tr...

4 years ago | 0

Answered
Creating Instances of Bus Objects defined in the Bus Editor
Hi Niklas, Thank you for your question and comments. I can definitely appreciate the difficulty in creating buses that you desc...

4 years ago | 0

Answered
IMU GPS fusion for interial navigation example error - quadcopter error
Michael, Please use the "open example" button from the documentation or in your MATLAB command prompt type: >>openExample('sha...

4 years ago | 0

Answered
My group is working on Slam and we took the reference example from mathworks site i.e. Sensor Fusion Using Synthetic Radar And Vision Data . But after sensor fusion process , we are not getting how to proceed further to perform Slam in simulink.
Akshay, That example shows multi-object tracking, and is completely unrelated to SLAM. If you want to find SLAM examples, fol...

5 years ago | 0

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Answered
What is the essential difference between "trackingEKF" and "initctekf" functions? How to choose?
Hi, There are many functions that are shared between the Sensor Fusion and Tracking Toolbox and the Automated Driving Toolbox....

5 years ago | 0

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Answered
regarding munkres function (Hungarian algorithm)
Abbi, You have a couple of options: If you know for sure that a certain solution should be favored, you can deduct the cost of...

5 years ago | 0

Answered
Multi-target tracking "assignDetectionsToTracks" function has unexpected results?
The fifth row / first column is associated because if these were not associated you would incure a cost of unassignment for both...

5 years ago | 0

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Answered
Cost Matrix Input for Multiple Sensor Fusion
Sugar_daddy: Unfortunately, when you set the HasCostMatrixInput to true, we can no longer make any assumptions on how to comput...

5 years ago | 1

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Answered
Problem with Interactive Multiple Model and Tracking Toolbox
Andrea, Apologies for the delay in response. The switchimm function is designed to be used with the models that we shipped in t...

5 years ago | 0

Answered
How to get a return value from a function_handle, when the function_handle is an input to a system object
Mia, You can access any property of any tracking filter used in the trackerGNN (and any other tracker) by calling the getTrackF...

6 years ago | 0

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Answered
objectDetection from 6 element vector
I am not sure that I understand your questions, but let me see if I can help a little. If I understand correctly, you have 160...

6 years ago | 0

Answered
set process noise 1D Constant Velocity
Per, Thanks for the question. I think I understand your confusion, but let's see if I do. You expect the process noise to be...

6 years ago | 0

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Answered
unscented kalman filter for sensor fusion
Houssem, Your code seems to implement a single singal unscented Kalman filter (in fact, a cubature Kalman filter with the setti...

6 years ago | 0

Answered
How I could specify the measurement noise matrix for EKF Kalman filter trackingEKF class ?
Hi Igor, You can specify it on construction using: ekf = trackingEKF('MeasurementNoise',R); Alternatively, you can specify it...

6 years ago | 0

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