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Header-only C++11 Kalman Filtering Library (EKF, UKF) based on Eigen3
License: MIT License
This project forked from mherb/kalman
Header-only C++11 Kalman Filtering Library (EKF, UKF) based on Eigen3
License: MIT License
点的坐标(X,Y,Z)是相对于空间的原点的。
点的速度(Velocity)是以点为中心的,而且设备没有能力观测速度。
点的运动方向也是以点为中心的,它也是设备无法观测的。
第n次输入点云与第n+1次输入点云是独立无关的
目标状态(X,Y,Z) 目标状态(速度,方位)
控制模型(速度,方位) 控制模型(速度变化,方位变化)
系统模型,每次输入更新控制模型
观测状态(X,Y,Z)
观测模型,将输入与上一次输入近邻点云计算
这一块工作可以来自杨的工作
目标消失后可能再出现,也可能不会出现。
前者,然后目标的ID不变(ID复用)。
但是后者,ID怎么知道目标消失了呢?
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