주요 콘텐츠

다중 객체 추적기

다중 센서 다중 객체 추적기, 데이터 연결, 트랙 융합

다양한 센서의 정보를 융합하는 다중 객체 추적기를 만들 수 있습니다. 추적된 객체에 대해 단일 가설을 관리하려면 trackerGNN을 사용합니다. 추적된 객체에 대해 여러 가설을 관리하려면 trackerTOMHT를 사용합니다. 추적된 객체에 여러 가능한 검출을 할당하려면 trackerJPDA를 사용합니다. PHD(확률 가설 밀도) 함수를 사용하여 추적된 객체를 나타내려면 trackerPHD를 사용합니다. 그리드 기반 점유 증거(occupancy evidence) 접근법을 사용하여 객체를 추적하려면 trackerGridRFS를 사용합니다. 추적 센서나 추적기가 생성한 트랙을 융합하고 분산화된 추적 시스템을 설계하려면 trackFuser를 사용합니다.

함수

모두 확장

assignauctionAssignment using auction global nearest neighbor
assignjvJonker-Volgenant global nearest neighbor assignment algorithm
assignkbestAssignment using k-best global nearest neighbor
assignkbestsdK-best S-D solution that minimizes total cost of assignment
assignmunkresMunkres global nearest neighbor assignment algorithm
assignsdS-D assignment using Lagrangian relaxation
assignTOMHTTrack-oriented multi-hypotheses tracking assignment
jpdaEventsFeasible joint events for trackerJPDA
partitionDetectionsPartition detections based on distance
mergeDetectionsMerge detections into clustered detections (R2021b 이후)
trackerGNNMulti-sensor, multi-object tracker using GNN assignment
trackerJPDAJoint probabilistic data association tracker
trackerTOMHTMulti-hypothesis, multi-sensor, multi-object tracker
trackerPHDMulti-sensor, multi-object PHD tracker
trackerGridRFSGrid-based multi-object tracker
smootherJIPDAJoint probabilistic data association smoother (R2023a 이후)
dynamicEvidentialGridMapDynamic grid map output from trackerGridRFS (R2021a 이후)
objectDetectionReport for single object detection
objectDetectionDelaySimulate out-of-sequence object detections (R2022a 이후)
getTrackPositionsReturns updated track positions and position covariance matrix
getTrackVelocitiesObtain updated track velocities and velocity covariance matrix
clusterTrackBranchesCluster track-oriented multi-hypothesis history
compatibleTrackBranchesFormulate global hypotheses from clusters
pruneTrackBranchesPrune track branches with low likelihood
trackHistoryLogicConfirm and delete tracks based on recent track history
trackScoreLogicConfirm and delete tracks based on track score
trackBranchHistoryTrack-oriented MHT branching and branch history
trackingSensorConfiguration Represent sensor configuration for tracking
JIPDATrackerTask-oriented joint integrated probabilistic data association tracker (R2024b 이후)
multiSensorTargetTrackerTask-oriented tracker based on target and sensor specifications (R2024b 이후)
trackerTargetSpecTarget specification for multi-target multi-sensor task-oriented tracker (R2024b 이후)
trackerSensorSpecSensor specification for multi-target multi-sensor specification-based tracker (R2024b 이후)
hasTrackerInputDetermine whether tracker needs additional input for target specification (R2024b 이후)
dataFormatStructure for data format required by task-oriented tracker (R2024b 이후)
CustomSensorCustom sensor specification (R2025a 이후)
CustomTargetCustom target specification (R2025a 이후)
GeneralAviationTarget specification for general aviation aircraft (R2024b 이후)
HelicopterTarget specification for helicopter (R2024b 이후)
HighwayCarTarget specification for car driving on highway (R2024b 이후)
HighwayTruckTarget specification for truck driving on highway (R2024b 이후)
PassengerAircraftTarget specification for passenger aircraft (R2024b 이후)
ManeuveringAircraftTarget specification for maneuvering aircraft (R2025a 이후)
AutomotiveCameraBoxesSensor specification for vehicle-mounted camera that reports images with 2-D bounding boxes (R2024b 이후)
AutomotiveLidarBoxesSensor specification for vehicle-mounted lidar that reports point cloud clustered in 3-D bounding boxes (R2024b 이후)
AutomotiveRadarClusteredPointsSensor specification for vehicle-mounted radar that has low to medium resolution (R2024b 이후)
AerospaceESMRadarSensor specification for direction-finding radar (R2024b 이후)
AerospaceMonostaticRadarSensor specification for monostatic radar (R2024b 이후)
AerospaceBistaticRadarSensor specification for bistatic radar (R2025a 이후)
AerospaceAngleOnlyIRSensor specification for infrared sensor that reports angle-only measurements (R2024b 이후)
targetStateTransitionModelState transition model for custom target specification (R2025a 이후)
targetSurvivalModelSurvival model for custom target specification (R2025a 이후)
sensorBirthModelBirth model for custom sensor specification (R2025a 이후)
sensorMeasurementModelMeasurement model for custom sensor specification (R2025a 이후)
sensorClutterModelClutter model for custom sensor specification (R2025a 이후)
sensorDetectabilityModelDetectability model for custom sensor specification (R2025a 이후)
UniformPoissonModelUniform Poisson birth model (R2025a 이후)
NonUniformPoissonModelNonuniform Poisson birth model (R2025a 이후)
UniformPoissonModelUniform Poisson clutter model (R2025a 이후)
NonUniformPoissonModelNonuniform Poisson clutter model (R2025a 이후)
FieldOfViewModelField of view detectability model (R2025a 이후)
FieldOfViewAndRangeRateModelField of view and range rate limits detectability model (R2025a 이후)
CompositeFieldOfViewModelComposite field of view detectability model (R2025a 이후)
UniformDetectabilityModelUniform detectability model (R2025a 이후)
RangeModelRange measurement model (R2025a 이후)
RangeAndRangeRateModelRange and range rate measurement model (R2025a 이후)
PositionModelPosition measurement model (R2025a 이후)
PositionVelocityModelPosition and velocity measurement model (R2025a 이후)
AzimuthElevationRangeAndRangeRateModelAzimuth, elevation, range, and range rate measurement model (R2025a 이후)
AzimuthElevationRangeModelAzimuth and elevation measurement model (R2025a 이후)
AzimuthElevationModelAzimuth and elevation measurement model (R2025a 이후)
AzimuthRangeAndRangeRateModelAzimuth, range, and range rate measurement model (R2025a 이후)
AzimuthRangeModelAzimuth and range measurement model (R2025a 이후)
AzimuthModelAzimuth measurement model (R2025a 이후)
UniformSurvivalRateModelUniform survival rate survival model (R2025a 이후)
RegionOfInterestSurvivalRateModelRegion of interest (ROI) survival model (R2025a 이후)
ConstantVelocityModelConstant velocity state transition model (R2025a 이후)
ConstantAccelerationModelConstant acceleration state transition model (R2025a 이후)
ConstantTurnRateModelConstant turn-rate state transition model (R2025a 이후)
SingerAccelerationModelSinger acceleration state transition model (R2025a 이후)
InteractingMultipleModelInteracting multiple model (IMM) state transition model (R2025a 이후)
trackFuserSingle-hypothesis track-to-track fuser
trackingArchitectureTracking system-of-system architecture (R2021a 이후)
staticDetectionFuserStatic fusion of synchronous sensor detections
objectTrackSingle object track report
fusecovintCovariance fusion using covariance intersection
fusecovunionCovariance fusion using covariance union
fusexcovCovariance fusion using cross-covariance
fuserSourceConfiguration Configuration of source used with track fuser
triangulateLOSTriangulate multiple line-of-sight detections

블록

모두 확장

Global Nearest Neighbor Multi Object TrackerMulti-sensor, multi-object tracker using GNN assignment
Joint Probabilistic Data Association Multi Object TrackerJoint probabilistic data association tracker
Track-Oriented Multi-Hypothesis TrackerTrack-Oriented Multi-Hypothesis Tracker
Probability Hypothesis Density (PHD) TrackerMulti-sensor, multi-object PHD tracker (R2021a 이후)
Grid-Based Multi Object TrackerGrid-based multi-object tracker using random finite set approach (R2021b 이후)
Track-To-Track FuserTrack-to-Track Fusion (R2021a 이후)
Detection Concatenation여러 센서의 검출 리포트 결합하기 (R2021a 이후)
Track ConcatenationConcatenate tracks (R2021a 이후)

도움말 항목

추천 예제