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include/kf_tracker v1. Object ID/data association works. In this version PCL based unsupervised clustering is done separately. 2015-12-07 17:20:12 -05:00
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README.md

Multiple objects detection, tracking and classification from LIDAR scans/point-clouds

Sample demo of multiple object tracking using LIDAR scans

PCL based ROS package to Detect/Cluster --> Track --> Classify static and dynamic objects in real-time from LIDAR scans implemented in C++.

Features:

  • K-D tree based point cloud processing for object feature detection from point clouds
  • Unsupervised k-means clustering based on detected features and refinement using RANSAC
  • Stable tracking (object ID & data association) with an ensemble of Kalman Filters
  • Robust compared to k-means clustering with mean-flow tracking