feat(multi_object_tracker): cherry-pick multi object tracker from AWF #2065
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…uncertainty (autowarefoundation#10378) * preparation Signed-off-by: Taekjin LEE <[email protected]> * feat(autoware_multi_object_tracker): enhance matrix initialization and add debug logging for tracker removal Signed-off-by: Taekjin LEE <[email protected]> * feat(autoware_multi_object_tracker): integrate max distance matrix for tracker removal logic Signed-off-by: Taekjin LEE <[email protected]> * refactor(autoware_multi_object_tracker): remove debug logging for tracker removal process Signed-off-by: Taekjin LEE <[email protected]> style(pre-commit): autofix Signed-off-by: Taekjin LEE <[email protected]> * refactor(autoware_multi_object_tracker): remove unused string include in association.cpp Signed-off-by: Taekjin LEE <[email protected]> * refactor(autoware_multi_object_tracker): remove commented debug logging in association.cpp Signed-off-by: Taekjin LEE <[email protected]> * refactor(autoware_multi_object_tracker): remove distance_threshold parameter and update related configurations Signed-off-by: Taekjin LEE <[email protected]> * refactor(tracker): implement isConfidentTracker method for object confidence assessment Signed-off-by: Taekjin LEE <[email protected]> * refactor(tracker): rename isConfidentTracker to isConfident and add isExpired method for object status management Signed-off-by: Taekjin LEE <[email protected]> * refactor(tracker): enhance updateWithoutMeasurement and isExpired methods for improved object status management Signed-off-by: Taekjin LEE <[email protected]> * refactor(tracker): adjust confidence and expiration thresholds for improved tracking accuracy Signed-off-by: Taekjin LEE <[email protected]> * refactor(tracker): add position covariance methods and improve confidence assessment logic Signed-off-by: Taekjin LEE <[email protected]> * refactor(tracker): add total existence probability calculation and improve debug output Signed-off-by: Taekjin LEE <[email protected]> * refactor(tracker): enhance debug output for expiration checks and adjust minor axis threshold Signed-off-by: Taekjin LEE <[email protected]> * refactor(tracker): simplify overlap removal logic by introducing canRemoveOverlappedTarget method refactor(tracker): improve code readability by formatting and enhancing overlap removal logic refactor(tracker): enhance UUID handling and improve confidence checks in tracker logic refactor(tracker): improve debug output for confidence and expiration checks Signed-off-by: Taekjin LEE <[email protected]> * refactor(tracker): optimize overlap removal by using list iteration instead of sorting Signed-off-by: Taekjin LEE <[email protected]> * refactor(tracker): simplify existence probability retrieval and enhance code clarity Signed-off-by: Taekjin LEE <[email protected]> * refactor(debugger): streamline existence probability retrieval in TrackerObjectDebugger Signed-off-by: Taekjin LEE <[email protected]> * feat(tracker): add time parameter to position covariance and confidence checks Signed-off-by: Taekjin LEE <[email protected]> * refactor(tracker): enhance confidence checks by refining covariance thresholds and improving debug output Signed-off-by: Taekjin LEE <[email protected]> style(pre-commit): autofix Signed-off-by: Taekjin LEE <[email protected]> refactor(tracker): comment out debug messages in confidence and expiration checks for cleaner output refactor(processor): simplify object retrieval in removeOverlappedTracker method Signed-off-by: Taekjin LEE <[email protected]> * refactor(tracker): remove redundant debug messages and enhance expiration checks with constants Signed-off-by: Taekjin LEE <[email protected]> * fix: set default value if the given existence probability is almost zero Signed-off-by: Taekjin LEE <[email protected]> * feat: merge overlapped trackers probability Signed-off-by: Taekjin LEE <[email protected]> * refactor(tracker): improve existence probability updates and add debug output for probability vectors Signed-off-by: Taekjin LEE <[email protected]> * style(pre-commit): autofix Signed-off-by: Taekjin LEE <[email protected]> * refactor(tracker): rename updateExistenceProbabilities to mergeExistenceProbabilities and simplify logic Signed-off-by: Taekjin LEE <[email protected]> * refactor(tracker): remove debug output from mergeOverlappedTracker function Signed-off-by: Taekjin LEE <[email protected]> * refactor(tracker): remove debug output for existence probabilities in mergeOverlappedTracker function Signed-off-by: Taekjin LEE <[email protected]> * refactor(tracker): include string header and simplify UUID string retrieval Signed-off-by: Taekjin LEE <[email protected]> * refactor(tracker): rename normalize parameter to clamp and update related logic Signed-off-by: Taekjin LEE <[email protected]> * refactor(tracker): rename EXPIRED_CONFIDENCE_THRESHOLD to EXPIRED_PROBABILITY_THRESHOLD for clarity Signed-off-by: Taekjin LEE <[email protected]> * refactor(tracker): add comment to clarify target removal condition in canMergeOverlappedTarget function Signed-off-by: Taekjin LEE <[email protected]> * style(pre-commit): autofix * refactor(tracker): add validation checks for covariance matrix in getPositionCovarianceEigenSq and getPositionCovarianceSizeSq functions Signed-off-by: Taekjin LEE <[email protected]> * refactor(tracker): improve covariance validation logging in getPositionCovarianceEigenSq and getPositionCovarianceSizeSq functions Signed-off-by: Taekjin LEE <[email protected]> * refactor(tracker): optimize iterator handling in mergeOverlappedTracker function Signed-off-by: Taekjin LEE <[email protected]> * refactor(types): change default_existence_probability type from double to float Signed-off-by: Taekjin LEE <[email protected]> * refactor(tracker): rename getPositionCovarianceSizeSq to getPositionCovarianceDeterminant for clarity Signed-off-by: Taekjin LEE <[email protected]> * refactor(tracker): update covariance thresholds to mitigate drawbacks Signed-off-by: Taekjin LEE <[email protected]> * refactor(tracker): adjust covariance thresholds for confidence and expiration checks Updated the covariance thresholds in the Tracker class to improve confidence and expiration logic, enhancing the accuracy of object tracking. Signed-off-by: Taekjin LEE <[email protected]> * fix: adjust existence probability threshold of expiration Signed-off-by: Taekjin LEE <[email protected]> * refactor(tracker): improve UUID formatting in tracker_base.hpp Updated the UUID formatting logic in the Tracker class to use a constant for the UUID size and ensure proper type casting, enhancing code clarity and maintainability. Signed-off-by: Taekjin LEE <[email protected]> * fix(types): cap existence probability to a maximum of 0.999 Added a check to ensure that the existence probability does not exceed 0.999, addressing potential issues with overly high values that may not be set correctly. Signed-off-by: Taekjin LEE <[email protected]> --------- Signed-off-by: Taekjin LEE <[email protected]> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
…hold for data association (autowarefoundation#10648) * refactor(autoware_multi_object_tracker): update Mahalanobis distance threshold for data association Changed the Mahalanobis distance threshold from 3.035 to a new critical value of 3.717, corresponding to a 99.99% confidence level for improved accuracy in object tracking. Signed-off-by: Taekjin LEE <[email protected]> * style(pre-commit): autofix Signed-off-by: Taekjin LEE <[email protected]> * refactor(autoware_multi_object_tracker): rename Mahalanobis distance threshold for clarity Updated the Mahalanobis distance threshold variable name to better reflect its purpose in the data association process, enhancing code readability. Signed-off-by: Taekjin LEE <[email protected]> --------- Signed-off-by: Taekjin LEE <[email protected]> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
… true positive rate Signed-off-by: Ericpotato <[email protected]>
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Thank you for contributing to the Autoware project! 🚧 If your pull request is in progress, switch it to draft mode. Please ensure:
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@Ericpotato |
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@technolojin Thanks again for your patience! |
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@technolojin |
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After this cherry-pick, pedestrian recognition becomes weak(?) in the actual vehicle. 😭 |
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Description
This PR cherry-picked changes from the following AWF PRs:
feat(autoware_multi_object_tracker): tracker confidence check by its uncertainty
fix(autoware_multi_object_tracker): update Mahalanobis distance threshold for data association
and changed the parameter
constexpr double EXPIRED_PROBABILITY_THRESHOLDfrom0.015to0.0075It performed well in experiments. and effectively reduce false positive rate.
Note
There is another PR of multi_object_tracker for branch beta/v0.41, link
But cherry-pick tha PR to beta/v0.44 caused a lot conflict and some contents are not fully verified in road tests
So this part might need to be updated later.
Related links
Parent Issue:
How was this PR tested?
TIER IV Internal Link
Notes for reviewers
None.
Interface changes
None.
Effects on system behavior
None.