feat(lidar_centerpoint, multi_object_tracker) : Use velocity estimated by CenterPoint to stabilize initial velocity of tracker #6602
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related link : autowarefoundation/autoware_launch#920 |
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This pull request has been automatically marked as stale because it has not had recent activity. |
MasatoSaeki
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Description
To accurately estimate velocity of suddenly appearing objects. Previously, initial velocity of tracker was 0.
Tracking output (without Prediction)
Applied (
has_twist=true)has_twist_true.trackingOutput.webm
Not applied (
has_twist=false)has_twist.false.trackingOutput.webm
Optional : Detection output (without Tracking and Prediction)
Velocity by CenterPoint (
has_twist=true)has_twist.true.detectionOutput.webm
Related links
Nothing.
Tests performed
Notes for reviewers
change
has_twist=falsetohas_twist=truein config to reproduceInterface changes
Nothing.
Effects on system behavior
Nothing.
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