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imm_ukf_pda_track package from autoware_learn repo

amathutils_lib autoware_build_flags autoware_health_checker emergency_handler gnss lanelet2_extension libvectormap libwaypoint_follower map_file object_map op_planner op_ros_helpers op_simu op_utility ros_observer tvm_utility vector_map vector_map_server vehicle_sim_model autoware_connector ekf_localizer gnss_localizer image_processor imm_ukf_pda_track lidar_apollo_cnn_seg_detect lidar_euclidean_cluster_detect lidar_fake_perception lidar_kf_contour_track lidar_localizer lidar_naive_l_shape_detect lidar_point_pillars lidar_shape_estimation naive_motion_predict ndt_cpu ndt_gpu ndt_tku obj_db pcl_omp_registration pixel_cloud_fusion points_downsampler points_preprocessor pos_db range_vision_fusion road_occupancy_processor roi_object_filter trafficlight_recognizer twist_generator vel_pose_diff_checker vision_beyond_track vision_darknet_detect vision_lane_detect vision_segment_enet_detect vision_ssd_detect astar_search costmap_generator decision_maker dp_planner ff_waypoint_follower freespace_planner lane_planner lattice_planner ll2_global_planner mpc_follower op_global_planner op_local_planner op_simulation_package op_utilities pure_pursuit state_machine_lib twist_filter twist_gate way_planner waypoint_maker waypoint_planner autoware_quickstart_examples autoware_can_msgs autoware_config_msgs autoware_external_msgs autoware_lanelet2_msgs autoware_map_msgs autoware_msgs autoware_system_msgs tablet_socket_msgs vector_map_msgs carla_autoware_bridge gazebo_camera_description gazebo_imu_description lgsvl_simulator_bridge vehicle_gazebo_simulation_interface vehicle_gazebo_simulation_launcher wf_simulator autoware_bag_tools autoware_camera_lidar_calibrator autoware_launcher autoware_launcher_rviz calibration_publisher data_preprocessor graph_tools kitti_box_publisher kitti_launch kitti_player lanelet_aisan_converter log_tools map_tf_generator map_tools marker_downsampler mqtt_socket multi_lidar_calibrator oculus_socket pc2_downsampler rosbag_controller runtime_manager sound_player system_monitor tablet_socket twist2odom udon_socket vehicle_engage_panel vehicle_socket decision_maker_panel detected_objects_visualizer fastvirtualscan gazebo_world_description glviewer integrated_viewer points2image rosinterface autoware_rviz_plugins vehicle_description vehicle_model adi_driver as autoware_driveworks_gmsl_interface autoware_driveworks_interface vlg22c_cam custom_msgs garmin hokuyo javad_navsat_driver kvaser sick_lms5xx memsic_imu microstrain_driver nmea_navsat autoware_pointgrey_drivers sick_ldmrs_description sick_ldmrs_driver sick_ldmrs_laser sick_ldmrs_msgs sick_ldmrs_tools vectacam xsens_driver ymc ds4 ds4_driver ds4_msgs lanelet2 lanelet2_core lanelet2_examples lanelet2_io lanelet2_maps lanelet2_matching lanelet2_projection lanelet2_python lanelet2_routing lanelet2_traffic_rules lanelet2_validation mrt_cmake_modules

ROS Distro
github

API Docs
Browse Code

Package Summary

Tags No category tags.
Version 1.12.0
License Apache 2
Build type CATKIN
Use RECOMMENDED

Repository Summary

Description autoware.ai perf
Checkout URI https://github.com/is-whale/autoware_learn.git
VCS Type git
VCS Version 1.14
Last Updated 2025-03-14
Dev Status UNKNOWN
Released UNRELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

imm_ukf_pda_track package

Additional Links

No additional links.

Maintainers

  • Kosuke Murakami

Authors

No additional authors.
autoware/core_perception/imm_ukf_pda_track/README.md

IMM-UKF-PDA Tracker

Autoware package based on IMM-UKF-PDA tracker.

  • From a sourced terminal:

roslaunch lidar_tracker imm_ukf_pda_tracker.launch

  • From Runtime Manager:

Computing Tab -> Detection/ lidar_detector -> imm_ukf_pda_tracker

Reference

A. Arya Senna Abdul Rachman, 3D-LIDAR Multi Object Tracking for Autonomous Driving. 2017. paper

M. Schreire, Bayesian environment representation, prediction, and criticality assessment for driver assistance systems. 2017. paper

Requirements

  • eucledian_cluster node.
  • ray_ground_filter node.
  • /tf topic. Below video is from Suginami data which contais /tf topic: (autoware-20180205150908.bag). You can download it from ROSBAG STORE for free. Otherwise, you need to do localization with a map to produce /tf topic from velodyne to world.
  • wayarea info from vectormap if is possible.

Parameters

Launch file available parameters for imm_ukf_pda_tracker

Parameter Type Description
tracker_input_topic String Input topic(type: autoware_msgs::CloudClusterArray). Default /cloud cluster.
tracker_output_topic String Output topic(type: autoware_msgs::CloudClusterArray). Default /tracking_cluster_array.
life_time_threshold Int The minimum frames for targets to be visualized. Default 8.
gating_threshold Double The value of gate threshold for measurement validation. Default 9.22.
gate_probability Double The probability that the gate contains the true measurement. Default 0.99.
detection_probability Double The probability that a target is detected. Default 0.9.
merge_distance_threshold Double The distance threshold for associating bounding box over frames. Default 0.5.
static_velocity_threshold Double The velocity threshold for classifying static/dynamic. Default 0.5.
static_num_history_threshold Int The amount of frames the velocity is averaged over to compare to static_velocity_threshold. Default 3.
prevent_explosion_threshold Double The threshold for stopping kalman filter update. Default 1000.
use_sukf bool Use standard kalman filter. Default false.

Launch file available parameters for visualize_detected_objects

Parameter Type Description
input_topic String Input topic(type: autoware_msgs::CloudClusterArray). Default /tracking_cluster_array.
pointcloud frame String Pointcloud frame. Default velodyne.

Subscribed topics

Node: imm_ukf_pda_tracker

Topic Type Objective
/detection/lidar_objects autoware_msgs::DetectedObjectArray Segmented pointcloud from a clustering algorithm like eucledian cluster.
/tf tf Tracking objects in world coordinate.

Node: visualize_detected_objects

Topic Type Objective
/detected_objects autoware_msgs::DetectedObjectArray Objects with tracking info.

Published topics

Node: imm_ukf_pda_tracker

Topic Type Objective
/detected_objects autoware_msgs::DetectedObjectArray Added info like velocity, yaw ,yaw_rate and static/dynamic class to DetectedObject msg.
/bounding_boxes_tracked jsk_recognition_msgs::BoundingBoxArray Visualze bounsing box nicely in rviz by JSK bounding box. Label contains information about static/dynamic class

Node: visualize_detected_objects

Topic Type Objective
/detected_objects/velocity_arrow visualization_msgs::Marker Visualize velocity and yaw of the targets.
/detected_objects/target_id visualization_msgs::Marker Visualize targets’ id.

Video

IMM UKF PDA lidar_tracker Autoware

Benchmark

Please notice that benchmark scripts are in another repository. You can tune parameters by using benchmark based on KITTI dataset. The repository is here.

CHANGELOG

Changelog for package lidar_imm_ukf_pda_track

1.11.0 (2019-03-21)

  • [fix] Install commands for all the packages (#1861)

    • Initial fixes to detection, sensing, semantics and utils

    • fixing wrong filename on install command

    • Fixes to install commands

    • Hokuyo fix name

    • Fix obj db

    • Obj db include fixes

    • End of final cleaning sweep

    • Incorrect command order in runtime manager

    • Param tempfile not required by runtime_manager

      • Fixes to runtime manager install commands

    • Remove devel directory from catkin, if any

    • Updated launch files for robosense

    • Updated robosense

    • Fix/add missing install (#1977)

    • Added launch install to lidar_kf_contour_track

    • Added install to op_global_planner

    • Added install to way_planner

    • Added install to op_local_planner

    • Added install to op_simulation_package

    • Added install to op_utilities

    • Added install to sync

      • Improved installation script for pointgrey packages

    • Fixed nodelet error for gmsl cameras

    • USe install space in catkin as well

    • add install to catkin

    • Fix install directives (#1990)

    • Fixed installation path

    • Fixed params installation path

    • Fixed cfg installation path

    • Delete cache on colcon_release
  • Fix license notice in corresponding package.xml
  • check for valid object before prediction
  • Adaptation of Object Filter with new perception workflow
  • Initial release of object filter
  • Contributors: Abraham Monrroy, Abraham Monrroy Cano, amc-nu

1.10.0 (2019-01-17)

  • Fixes for catkin_make
  • Switch to Apache 2 license (develop branch) (#1741)
    • Switch to Apache 2

    * Replace BSD-3 license header with Apache 2 and reassign copyright to the Autoware Foundation.

    • Update license on Python files
    • Update copyright years
    • Add #ifndef/define _POINTS_IMAGE_H_
    • Updated license comment
  • Use colcon as the build tool (#1704)
    • Switch to colcon as the build tool instead of catkin
    • Added cmake-target
    • Added note about the second colcon call
    • Added warning about catkin* scripts being deprecated
    • Fix COLCON_OPTS
    • Added install targets
    • Update Docker image tags
    • Message packages fixes
    • Fix missing dependency
  • Feature/perception visualization cleanup (#1648)
      • Initial commit for visualization package

File truncated at 100 lines see the full file

Package Dependencies

Deps Name
autoware_build_flags
catkin
autoware_msgs
amathutils_lib
pcl_ros
roscpp
roslint
tf
vector_map
lanelet2_extension

System Dependencies

No direct system dependencies.

Dependant Packages

Name Deps
naive_motion_predict

Launch files

  • launch/imm_ukf_pda_track.launch
      • namespace [default: tracking]
      • tracker_input_topic [default: /detection/objects]
      • tracker_output_topic [default: objects]
      • detection_probability [default: 0.9]
      • gate_probability [default: 0.99]
      • gating_threshold [default: 9.22]
      • life_time_threshold [default: 8]
      • merge_distance_threshold [default: 0.5]
      • prevent_explosion_threshold [default: 1000]
      • static_num_history_threshold [default: 3]
      • static_velocity_threshold [default: 0.5]
      • tracking_frame [default: map]
      • use_sukf [default: false]
      • use_map_info [default: false]
      • map_frame [default: map]
      • lane_direction_chi_threshold [default: 2.71]
      • nearest_lane_distance_threshold [default: 1.0]
  • launch/imm_ukf_pda_track_lanelet2.launch
      • namespace [default: tracking]
      • tracker_input_topic [default: /detection/objects]
      • tracker_output_topic [default: objects]
      • detection_probability [default: 0.9]
      • gate_probability [default: 0.99]
      • gating_threshold [default: 9.22]
      • life_time_threshold [default: 8]
      • merge_distance_threshold [default: 0.5]
      • prevent_explosion_threshold [default: 1000]
      • static_num_history_threshold [default: 3]
      • static_velocity_threshold [default: 0.5]
      • tracking_frame [default: map]
      • use_sukf [default: false]
      • use_map_info [default: false]
      • map_frame [default: map]
      • lane_direction_chi_threshold [default: 2.71]
      • nearest_lane_distance_threshold [default: 1.0]
  • launch/imm_ukf_pda_track_option.launch
      • use_ll2 [default: false]
      • namespace [default: tracking]
      • tracker_input_topic [default: /detection/objects]
      • tracker_output_topic [default: objects]
      • detection_probability [default: 0.9]
      • gate_probability [default: 0.99]
      • gating_threshold [default: 9.22]
      • life_time_threshold [default: 8]
      • merge_distance_threshold [default: 0.5]
      • prevent_explosion_threshold [default: 1000]
      • static_num_history_threshold [default: 3]
      • static_velocity_threshold [default: 0.5]
      • tracking_frame [default: map]
      • use_sukf [default: false]
      • use_map_info [default: false]
      • map_frame [default: map]
      • lane_direction_chi_threshold [default: 2.71]
      • nearest_lane_distance_threshold [default: 1.0]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged imm_ukf_pda_track at Robotics Stack Exchange

No version for distro jazzy showing github. Known supported distros are highlighted in the buttons above.
Package symbol

imm_ukf_pda_track package from autoware_learn repo

amathutils_lib autoware_build_flags autoware_health_checker emergency_handler gnss lanelet2_extension libvectormap libwaypoint_follower map_file object_map op_planner op_ros_helpers op_simu op_utility ros_observer tvm_utility vector_map vector_map_server vehicle_sim_model autoware_connector ekf_localizer gnss_localizer image_processor imm_ukf_pda_track lidar_apollo_cnn_seg_detect lidar_euclidean_cluster_detect lidar_fake_perception lidar_kf_contour_track lidar_localizer lidar_naive_l_shape_detect lidar_point_pillars lidar_shape_estimation naive_motion_predict ndt_cpu ndt_gpu ndt_tku obj_db pcl_omp_registration pixel_cloud_fusion points_downsampler points_preprocessor pos_db range_vision_fusion road_occupancy_processor roi_object_filter trafficlight_recognizer twist_generator vel_pose_diff_checker vision_beyond_track vision_darknet_detect vision_lane_detect vision_segment_enet_detect vision_ssd_detect astar_search costmap_generator decision_maker dp_planner ff_waypoint_follower freespace_planner lane_planner lattice_planner ll2_global_planner mpc_follower op_global_planner op_local_planner op_simulation_package op_utilities pure_pursuit state_machine_lib twist_filter twist_gate way_planner waypoint_maker waypoint_planner autoware_quickstart_examples autoware_can_msgs autoware_config_msgs autoware_external_msgs autoware_lanelet2_msgs autoware_map_msgs autoware_msgs autoware_system_msgs tablet_socket_msgs vector_map_msgs carla_autoware_bridge gazebo_camera_description gazebo_imu_description lgsvl_simulator_bridge vehicle_gazebo_simulation_interface vehicle_gazebo_simulation_launcher wf_simulator autoware_bag_tools autoware_camera_lidar_calibrator autoware_launcher autoware_launcher_rviz calibration_publisher data_preprocessor graph_tools kitti_box_publisher kitti_launch kitti_player lanelet_aisan_converter log_tools map_tf_generator map_tools marker_downsampler mqtt_socket multi_lidar_calibrator oculus_socket pc2_downsampler rosbag_controller runtime_manager sound_player system_monitor tablet_socket twist2odom udon_socket vehicle_engage_panel vehicle_socket decision_maker_panel detected_objects_visualizer fastvirtualscan gazebo_world_description glviewer integrated_viewer points2image rosinterface autoware_rviz_plugins vehicle_description vehicle_model adi_driver as autoware_driveworks_gmsl_interface autoware_driveworks_interface vlg22c_cam custom_msgs garmin hokuyo javad_navsat_driver kvaser sick_lms5xx memsic_imu microstrain_driver nmea_navsat autoware_pointgrey_drivers sick_ldmrs_description sick_ldmrs_driver sick_ldmrs_laser sick_ldmrs_msgs sick_ldmrs_tools vectacam xsens_driver ymc ds4 ds4_driver ds4_msgs lanelet2 lanelet2_core lanelet2_examples lanelet2_io lanelet2_maps lanelet2_matching lanelet2_projection lanelet2_python lanelet2_routing lanelet2_traffic_rules lanelet2_validation mrt_cmake_modules

ROS Distro
github

API Docs
Browse Code

Package Summary

Tags No category tags.
Version 1.12.0
License Apache 2
Build type CATKIN
Use RECOMMENDED

Repository Summary

Description autoware.ai perf
Checkout URI https://github.com/is-whale/autoware_learn.git
VCS Type git
VCS Version 1.14
Last Updated 2025-03-14
Dev Status UNKNOWN
Released UNRELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

imm_ukf_pda_track package

Additional Links

No additional links.

Maintainers

  • Kosuke Murakami

Authors

No additional authors.
autoware/core_perception/imm_ukf_pda_track/README.md

IMM-UKF-PDA Tracker

Autoware package based on IMM-UKF-PDA tracker.

  • From a sourced terminal:

roslaunch lidar_tracker imm_ukf_pda_tracker.launch

  • From Runtime Manager:

Computing Tab -> Detection/ lidar_detector -> imm_ukf_pda_tracker

Reference

A. Arya Senna Abdul Rachman, 3D-LIDAR Multi Object Tracking for Autonomous Driving. 2017. paper

M. Schreire, Bayesian environment representation, prediction, and criticality assessment for driver assistance systems. 2017. paper

Requirements

  • eucledian_cluster node.
  • ray_ground_filter node.
  • /tf topic. Below video is from Suginami data which contais /tf topic: (autoware-20180205150908.bag). You can download it from ROSBAG STORE for free. Otherwise, you need to do localization with a map to produce /tf topic from velodyne to world.
  • wayarea info from vectormap if is possible.

Parameters

Launch file available parameters for imm_ukf_pda_tracker

Parameter Type Description
tracker_input_topic String Input topic(type: autoware_msgs::CloudClusterArray). Default /cloud cluster.
tracker_output_topic String Output topic(type: autoware_msgs::CloudClusterArray). Default /tracking_cluster_array.
life_time_threshold Int The minimum frames for targets to be visualized. Default 8.
gating_threshold Double The value of gate threshold for measurement validation. Default 9.22.
gate_probability Double The probability that the gate contains the true measurement. Default 0.99.
detection_probability Double The probability that a target is detected. Default 0.9.
merge_distance_threshold Double The distance threshold for associating bounding box over frames. Default 0.5.
static_velocity_threshold Double The velocity threshold for classifying static/dynamic. Default 0.5.
static_num_history_threshold Int The amount of frames the velocity is averaged over to compare to static_velocity_threshold. Default 3.
prevent_explosion_threshold Double The threshold for stopping kalman filter update. Default 1000.
use_sukf bool Use standard kalman filter. Default false.

Launch file available parameters for visualize_detected_objects

Parameter Type Description
input_topic String Input topic(type: autoware_msgs::CloudClusterArray). Default /tracking_cluster_array.
pointcloud frame String Pointcloud frame. Default velodyne.

Subscribed topics

Node: imm_ukf_pda_tracker

Topic Type Objective
/detection/lidar_objects autoware_msgs::DetectedObjectArray Segmented pointcloud from a clustering algorithm like eucledian cluster.
/tf tf Tracking objects in world coordinate.

Node: visualize_detected_objects

Topic Type Objective
/detected_objects autoware_msgs::DetectedObjectArray Objects with tracking info.

Published topics

Node: imm_ukf_pda_tracker

Topic Type Objective
/detected_objects autoware_msgs::DetectedObjectArray Added info like velocity, yaw ,yaw_rate and static/dynamic class to DetectedObject msg.
/bounding_boxes_tracked jsk_recognition_msgs::BoundingBoxArray Visualze bounsing box nicely in rviz by JSK bounding box. Label contains information about static/dynamic class

Node: visualize_detected_objects

Topic Type Objective
/detected_objects/velocity_arrow visualization_msgs::Marker Visualize velocity and yaw of the targets.
/detected_objects/target_id visualization_msgs::Marker Visualize targets’ id.

Video

IMM UKF PDA lidar_tracker Autoware

Benchmark

Please notice that benchmark scripts are in another repository. You can tune parameters by using benchmark based on KITTI dataset. The repository is here.

CHANGELOG

Changelog for package lidar_imm_ukf_pda_track

1.11.0 (2019-03-21)

  • [fix] Install commands for all the packages (#1861)

    • Initial fixes to detection, sensing, semantics and utils

    • fixing wrong filename on install command

    • Fixes to install commands

    • Hokuyo fix name

    • Fix obj db

    • Obj db include fixes

    • End of final cleaning sweep

    • Incorrect command order in runtime manager

    • Param tempfile not required by runtime_manager

      • Fixes to runtime manager install commands

    • Remove devel directory from catkin, if any

    • Updated launch files for robosense

    • Updated robosense

    • Fix/add missing install (#1977)

    • Added launch install to lidar_kf_contour_track

    • Added install to op_global_planner

    • Added install to way_planner

    • Added install to op_local_planner

    • Added install to op_simulation_package

    • Added install to op_utilities

    • Added install to sync

      • Improved installation script for pointgrey packages

    • Fixed nodelet error for gmsl cameras

    • USe install space in catkin as well

    • add install to catkin

    • Fix install directives (#1990)

    • Fixed installation path

    • Fixed params installation path

    • Fixed cfg installation path

    • Delete cache on colcon_release
  • Fix license notice in corresponding package.xml
  • check for valid object before prediction
  • Adaptation of Object Filter with new perception workflow
  • Initial release of object filter
  • Contributors: Abraham Monrroy, Abraham Monrroy Cano, amc-nu

1.10.0 (2019-01-17)

  • Fixes for catkin_make
  • Switch to Apache 2 license (develop branch) (#1741)
    • Switch to Apache 2

    * Replace BSD-3 license header with Apache 2 and reassign copyright to the Autoware Foundation.

    • Update license on Python files
    • Update copyright years
    • Add #ifndef/define _POINTS_IMAGE_H_
    • Updated license comment
  • Use colcon as the build tool (#1704)
    • Switch to colcon as the build tool instead of catkin
    • Added cmake-target
    • Added note about the second colcon call
    • Added warning about catkin* scripts being deprecated
    • Fix COLCON_OPTS
    • Added install targets
    • Update Docker image tags
    • Message packages fixes
    • Fix missing dependency
  • Feature/perception visualization cleanup (#1648)
      • Initial commit for visualization package

File truncated at 100 lines see the full file

Package Dependencies

Deps Name
autoware_build_flags
catkin
autoware_msgs
amathutils_lib
pcl_ros
roscpp
roslint
tf
vector_map
lanelet2_extension

System Dependencies

No direct system dependencies.

Dependant Packages

Name Deps
naive_motion_predict

Launch files

  • launch/imm_ukf_pda_track.launch
      • namespace [default: tracking]
      • tracker_input_topic [default: /detection/objects]
      • tracker_output_topic [default: objects]
      • detection_probability [default: 0.9]
      • gate_probability [default: 0.99]
      • gating_threshold [default: 9.22]
      • life_time_threshold [default: 8]
      • merge_distance_threshold [default: 0.5]
      • prevent_explosion_threshold [default: 1000]
      • static_num_history_threshold [default: 3]
      • static_velocity_threshold [default: 0.5]
      • tracking_frame [default: map]
      • use_sukf [default: false]
      • use_map_info [default: false]
      • map_frame [default: map]
      • lane_direction_chi_threshold [default: 2.71]
      • nearest_lane_distance_threshold [default: 1.0]
  • launch/imm_ukf_pda_track_lanelet2.launch
      • namespace [default: tracking]
      • tracker_input_topic [default: /detection/objects]
      • tracker_output_topic [default: objects]
      • detection_probability [default: 0.9]
      • gate_probability [default: 0.99]
      • gating_threshold [default: 9.22]
      • life_time_threshold [default: 8]
      • merge_distance_threshold [default: 0.5]
      • prevent_explosion_threshold [default: 1000]
      • static_num_history_threshold [default: 3]
      • static_velocity_threshold [default: 0.5]
      • tracking_frame [default: map]
      • use_sukf [default: false]
      • use_map_info [default: false]
      • map_frame [default: map]
      • lane_direction_chi_threshold [default: 2.71]
      • nearest_lane_distance_threshold [default: 1.0]
  • launch/imm_ukf_pda_track_option.launch
      • use_ll2 [default: false]
      • namespace [default: tracking]
      • tracker_input_topic [default: /detection/objects]
      • tracker_output_topic [default: objects]
      • detection_probability [default: 0.9]
      • gate_probability [default: 0.99]
      • gating_threshold [default: 9.22]
      • life_time_threshold [default: 8]
      • merge_distance_threshold [default: 0.5]
      • prevent_explosion_threshold [default: 1000]
      • static_num_history_threshold [default: 3]
      • static_velocity_threshold [default: 0.5]
      • tracking_frame [default: map]
      • use_sukf [default: false]
      • use_map_info [default: false]
      • map_frame [default: map]
      • lane_direction_chi_threshold [default: 2.71]
      • nearest_lane_distance_threshold [default: 1.0]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged imm_ukf_pda_track at Robotics Stack Exchange

No version for distro kilted showing github. Known supported distros are highlighted in the buttons above.
Package symbol

imm_ukf_pda_track package from autoware_learn repo

amathutils_lib autoware_build_flags autoware_health_checker emergency_handler gnss lanelet2_extension libvectormap libwaypoint_follower map_file object_map op_planner op_ros_helpers op_simu op_utility ros_observer tvm_utility vector_map vector_map_server vehicle_sim_model autoware_connector ekf_localizer gnss_localizer image_processor imm_ukf_pda_track lidar_apollo_cnn_seg_detect lidar_euclidean_cluster_detect lidar_fake_perception lidar_kf_contour_track lidar_localizer lidar_naive_l_shape_detect lidar_point_pillars lidar_shape_estimation naive_motion_predict ndt_cpu ndt_gpu ndt_tku obj_db pcl_omp_registration pixel_cloud_fusion points_downsampler points_preprocessor pos_db range_vision_fusion road_occupancy_processor roi_object_filter trafficlight_recognizer twist_generator vel_pose_diff_checker vision_beyond_track vision_darknet_detect vision_lane_detect vision_segment_enet_detect vision_ssd_detect astar_search costmap_generator decision_maker dp_planner ff_waypoint_follower freespace_planner lane_planner lattice_planner ll2_global_planner mpc_follower op_global_planner op_local_planner op_simulation_package op_utilities pure_pursuit state_machine_lib twist_filter twist_gate way_planner waypoint_maker waypoint_planner autoware_quickstart_examples autoware_can_msgs autoware_config_msgs autoware_external_msgs autoware_lanelet2_msgs autoware_map_msgs autoware_msgs autoware_system_msgs tablet_socket_msgs vector_map_msgs carla_autoware_bridge gazebo_camera_description gazebo_imu_description lgsvl_simulator_bridge vehicle_gazebo_simulation_interface vehicle_gazebo_simulation_launcher wf_simulator autoware_bag_tools autoware_camera_lidar_calibrator autoware_launcher autoware_launcher_rviz calibration_publisher data_preprocessor graph_tools kitti_box_publisher kitti_launch kitti_player lanelet_aisan_converter log_tools map_tf_generator map_tools marker_downsampler mqtt_socket multi_lidar_calibrator oculus_socket pc2_downsampler rosbag_controller runtime_manager sound_player system_monitor tablet_socket twist2odom udon_socket vehicle_engage_panel vehicle_socket decision_maker_panel detected_objects_visualizer fastvirtualscan gazebo_world_description glviewer integrated_viewer points2image rosinterface autoware_rviz_plugins vehicle_description vehicle_model adi_driver as autoware_driveworks_gmsl_interface autoware_driveworks_interface vlg22c_cam custom_msgs garmin hokuyo javad_navsat_driver kvaser sick_lms5xx memsic_imu microstrain_driver nmea_navsat autoware_pointgrey_drivers sick_ldmrs_description sick_ldmrs_driver sick_ldmrs_laser sick_ldmrs_msgs sick_ldmrs_tools vectacam xsens_driver ymc ds4 ds4_driver ds4_msgs lanelet2 lanelet2_core lanelet2_examples lanelet2_io lanelet2_maps lanelet2_matching lanelet2_projection lanelet2_python lanelet2_routing lanelet2_traffic_rules lanelet2_validation mrt_cmake_modules

ROS Distro
github

API Docs
Browse Code

Package Summary

Tags No category tags.
Version 1.12.0
License Apache 2
Build type CATKIN
Use RECOMMENDED

Repository Summary

Description autoware.ai perf
Checkout URI https://github.com/is-whale/autoware_learn.git
VCS Type git
VCS Version 1.14
Last Updated 2025-03-14
Dev Status UNKNOWN
Released UNRELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

imm_ukf_pda_track package

Additional Links

No additional links.

Maintainers

  • Kosuke Murakami

Authors

No additional authors.
autoware/core_perception/imm_ukf_pda_track/README.md

IMM-UKF-PDA Tracker

Autoware package based on IMM-UKF-PDA tracker.

  • From a sourced terminal:

roslaunch lidar_tracker imm_ukf_pda_tracker.launch

  • From Runtime Manager:

Computing Tab -> Detection/ lidar_detector -> imm_ukf_pda_tracker

Reference

A. Arya Senna Abdul Rachman, 3D-LIDAR Multi Object Tracking for Autonomous Driving. 2017. paper

M. Schreire, Bayesian environment representation, prediction, and criticality assessment for driver assistance systems. 2017. paper

Requirements

  • eucledian_cluster node.
  • ray_ground_filter node.
  • /tf topic. Below video is from Suginami data which contais /tf topic: (autoware-20180205150908.bag). You can download it from ROSBAG STORE for free. Otherwise, you need to do localization with a map to produce /tf topic from velodyne to world.
  • wayarea info from vectormap if is possible.

Parameters

Launch file available parameters for imm_ukf_pda_tracker

Parameter Type Description
tracker_input_topic String Input topic(type: autoware_msgs::CloudClusterArray). Default /cloud cluster.
tracker_output_topic String Output topic(type: autoware_msgs::CloudClusterArray). Default /tracking_cluster_array.
life_time_threshold Int The minimum frames for targets to be visualized. Default 8.
gating_threshold Double The value of gate threshold for measurement validation. Default 9.22.
gate_probability Double The probability that the gate contains the true measurement. Default 0.99.
detection_probability Double The probability that a target is detected. Default 0.9.
merge_distance_threshold Double The distance threshold for associating bounding box over frames. Default 0.5.
static_velocity_threshold Double The velocity threshold for classifying static/dynamic. Default 0.5.
static_num_history_threshold Int The amount of frames the velocity is averaged over to compare to static_velocity_threshold. Default 3.
prevent_explosion_threshold Double The threshold for stopping kalman filter update. Default 1000.
use_sukf bool Use standard kalman filter. Default false.

Launch file available parameters for visualize_detected_objects

Parameter Type Description
input_topic String Input topic(type: autoware_msgs::CloudClusterArray). Default /tracking_cluster_array.
pointcloud frame String Pointcloud frame. Default velodyne.

Subscribed topics

Node: imm_ukf_pda_tracker

Topic Type Objective
/detection/lidar_objects autoware_msgs::DetectedObjectArray Segmented pointcloud from a clustering algorithm like eucledian cluster.
/tf tf Tracking objects in world coordinate.

Node: visualize_detected_objects

Topic Type Objective
/detected_objects autoware_msgs::DetectedObjectArray Objects with tracking info.

Published topics

Node: imm_ukf_pda_tracker

Topic Type Objective
/detected_objects autoware_msgs::DetectedObjectArray Added info like velocity, yaw ,yaw_rate and static/dynamic class to DetectedObject msg.
/bounding_boxes_tracked jsk_recognition_msgs::BoundingBoxArray Visualze bounsing box nicely in rviz by JSK bounding box. Label contains information about static/dynamic class

Node: visualize_detected_objects

Topic Type Objective
/detected_objects/velocity_arrow visualization_msgs::Marker Visualize velocity and yaw of the targets.
/detected_objects/target_id visualization_msgs::Marker Visualize targets’ id.

Video

IMM UKF PDA lidar_tracker Autoware

Benchmark

Please notice that benchmark scripts are in another repository. You can tune parameters by using benchmark based on KITTI dataset. The repository is here.

CHANGELOG

Changelog for package lidar_imm_ukf_pda_track

1.11.0 (2019-03-21)

  • [fix] Install commands for all the packages (#1861)

    • Initial fixes to detection, sensing, semantics and utils

    • fixing wrong filename on install command

    • Fixes to install commands

    • Hokuyo fix name

    • Fix obj db

    • Obj db include fixes

    • End of final cleaning sweep

    • Incorrect command order in runtime manager

    • Param tempfile not required by runtime_manager

      • Fixes to runtime manager install commands

    • Remove devel directory from catkin, if any

    • Updated launch files for robosense

    • Updated robosense

    • Fix/add missing install (#1977)

    • Added launch install to lidar_kf_contour_track

    • Added install to op_global_planner

    • Added install to way_planner

    • Added install to op_local_planner

    • Added install to op_simulation_package

    • Added install to op_utilities

    • Added install to sync

      • Improved installation script for pointgrey packages

    • Fixed nodelet error for gmsl cameras

    • USe install space in catkin as well

    • add install to catkin

    • Fix install directives (#1990)

    • Fixed installation path

    • Fixed params installation path

    • Fixed cfg installation path

    • Delete cache on colcon_release
  • Fix license notice in corresponding package.xml
  • check for valid object before prediction
  • Adaptation of Object Filter with new perception workflow
  • Initial release of object filter
  • Contributors: Abraham Monrroy, Abraham Monrroy Cano, amc-nu

1.10.0 (2019-01-17)

  • Fixes for catkin_make
  • Switch to Apache 2 license (develop branch) (#1741)
    • Switch to Apache 2

    * Replace BSD-3 license header with Apache 2 and reassign copyright to the Autoware Foundation.

    • Update license on Python files
    • Update copyright years
    • Add #ifndef/define _POINTS_IMAGE_H_
    • Updated license comment
  • Use colcon as the build tool (#1704)
    • Switch to colcon as the build tool instead of catkin
    • Added cmake-target
    • Added note about the second colcon call
    • Added warning about catkin* scripts being deprecated
    • Fix COLCON_OPTS
    • Added install targets
    • Update Docker image tags
    • Message packages fixes
    • Fix missing dependency
  • Feature/perception visualization cleanup (#1648)
      • Initial commit for visualization package

File truncated at 100 lines see the full file

Package Dependencies

Deps Name
autoware_build_flags
catkin
autoware_msgs
amathutils_lib
pcl_ros
roscpp
roslint
tf
vector_map
lanelet2_extension

System Dependencies

No direct system dependencies.

Dependant Packages

Name Deps
naive_motion_predict

Launch files

  • launch/imm_ukf_pda_track.launch
      • namespace [default: tracking]
      • tracker_input_topic [default: /detection/objects]
      • tracker_output_topic [default: objects]
      • detection_probability [default: 0.9]
      • gate_probability [default: 0.99]
      • gating_threshold [default: 9.22]
      • life_time_threshold [default: 8]
      • merge_distance_threshold [default: 0.5]
      • prevent_explosion_threshold [default: 1000]
      • static_num_history_threshold [default: 3]
      • static_velocity_threshold [default: 0.5]
      • tracking_frame [default: map]
      • use_sukf [default: false]
      • use_map_info [default: false]
      • map_frame [default: map]
      • lane_direction_chi_threshold [default: 2.71]
      • nearest_lane_distance_threshold [default: 1.0]
  • launch/imm_ukf_pda_track_lanelet2.launch
      • namespace [default: tracking]
      • tracker_input_topic [default: /detection/objects]
      • tracker_output_topic [default: objects]
      • detection_probability [default: 0.9]
      • gate_probability [default: 0.99]
      • gating_threshold [default: 9.22]
      • life_time_threshold [default: 8]
      • merge_distance_threshold [default: 0.5]
      • prevent_explosion_threshold [default: 1000]
      • static_num_history_threshold [default: 3]
      • static_velocity_threshold [default: 0.5]
      • tracking_frame [default: map]
      • use_sukf [default: false]
      • use_map_info [default: false]
      • map_frame [default: map]
      • lane_direction_chi_threshold [default: 2.71]
      • nearest_lane_distance_threshold [default: 1.0]
  • launch/imm_ukf_pda_track_option.launch
      • use_ll2 [default: false]
      • namespace [default: tracking]
      • tracker_input_topic [default: /detection/objects]
      • tracker_output_topic [default: objects]
      • detection_probability [default: 0.9]
      • gate_probability [default: 0.99]
      • gating_threshold [default: 9.22]
      • life_time_threshold [default: 8]
      • merge_distance_threshold [default: 0.5]
      • prevent_explosion_threshold [default: 1000]
      • static_num_history_threshold [default: 3]
      • static_velocity_threshold [default: 0.5]
      • tracking_frame [default: map]
      • use_sukf [default: false]
      • use_map_info [default: false]
      • map_frame [default: map]
      • lane_direction_chi_threshold [default: 2.71]
      • nearest_lane_distance_threshold [default: 1.0]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged imm_ukf_pda_track at Robotics Stack Exchange

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Package symbol

imm_ukf_pda_track package from autoware_learn repo

amathutils_lib autoware_build_flags autoware_health_checker emergency_handler gnss lanelet2_extension libvectormap libwaypoint_follower map_file object_map op_planner op_ros_helpers op_simu op_utility ros_observer tvm_utility vector_map vector_map_server vehicle_sim_model autoware_connector ekf_localizer gnss_localizer image_processor imm_ukf_pda_track lidar_apollo_cnn_seg_detect lidar_euclidean_cluster_detect lidar_fake_perception lidar_kf_contour_track lidar_localizer lidar_naive_l_shape_detect lidar_point_pillars lidar_shape_estimation naive_motion_predict ndt_cpu ndt_gpu ndt_tku obj_db pcl_omp_registration pixel_cloud_fusion points_downsampler points_preprocessor pos_db range_vision_fusion road_occupancy_processor roi_object_filter trafficlight_recognizer twist_generator vel_pose_diff_checker vision_beyond_track vision_darknet_detect vision_lane_detect vision_segment_enet_detect vision_ssd_detect astar_search costmap_generator decision_maker dp_planner ff_waypoint_follower freespace_planner lane_planner lattice_planner ll2_global_planner mpc_follower op_global_planner op_local_planner op_simulation_package op_utilities pure_pursuit state_machine_lib twist_filter twist_gate way_planner waypoint_maker waypoint_planner autoware_quickstart_examples autoware_can_msgs autoware_config_msgs autoware_external_msgs autoware_lanelet2_msgs autoware_map_msgs autoware_msgs autoware_system_msgs tablet_socket_msgs vector_map_msgs carla_autoware_bridge gazebo_camera_description gazebo_imu_description lgsvl_simulator_bridge vehicle_gazebo_simulation_interface vehicle_gazebo_simulation_launcher wf_simulator autoware_bag_tools autoware_camera_lidar_calibrator autoware_launcher autoware_launcher_rviz calibration_publisher data_preprocessor graph_tools kitti_box_publisher kitti_launch kitti_player lanelet_aisan_converter log_tools map_tf_generator map_tools marker_downsampler mqtt_socket multi_lidar_calibrator oculus_socket pc2_downsampler rosbag_controller runtime_manager sound_player system_monitor tablet_socket twist2odom udon_socket vehicle_engage_panel vehicle_socket decision_maker_panel detected_objects_visualizer fastvirtualscan gazebo_world_description glviewer integrated_viewer points2image rosinterface autoware_rviz_plugins vehicle_description vehicle_model adi_driver as autoware_driveworks_gmsl_interface autoware_driveworks_interface vlg22c_cam custom_msgs garmin hokuyo javad_navsat_driver kvaser sick_lms5xx memsic_imu microstrain_driver nmea_navsat autoware_pointgrey_drivers sick_ldmrs_description sick_ldmrs_driver sick_ldmrs_laser sick_ldmrs_msgs sick_ldmrs_tools vectacam xsens_driver ymc ds4 ds4_driver ds4_msgs lanelet2 lanelet2_core lanelet2_examples lanelet2_io lanelet2_maps lanelet2_matching lanelet2_projection lanelet2_python lanelet2_routing lanelet2_traffic_rules lanelet2_validation mrt_cmake_modules

ROS Distro
github

API Docs
Browse Code

Package Summary

Tags No category tags.
Version 1.12.0
License Apache 2
Build type CATKIN
Use RECOMMENDED

Repository Summary

Description autoware.ai perf
Checkout URI https://github.com/is-whale/autoware_learn.git
VCS Type git
VCS Version 1.14
Last Updated 2025-03-14
Dev Status UNKNOWN
Released UNRELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

imm_ukf_pda_track package

Additional Links

No additional links.

Maintainers

  • Kosuke Murakami

Authors

No additional authors.
autoware/core_perception/imm_ukf_pda_track/README.md

IMM-UKF-PDA Tracker

Autoware package based on IMM-UKF-PDA tracker.

  • From a sourced terminal:

roslaunch lidar_tracker imm_ukf_pda_tracker.launch

  • From Runtime Manager:

Computing Tab -> Detection/ lidar_detector -> imm_ukf_pda_tracker

Reference

A. Arya Senna Abdul Rachman, 3D-LIDAR Multi Object Tracking for Autonomous Driving. 2017. paper

M. Schreire, Bayesian environment representation, prediction, and criticality assessment for driver assistance systems. 2017. paper

Requirements

  • eucledian_cluster node.
  • ray_ground_filter node.
  • /tf topic. Below video is from Suginami data which contais /tf topic: (autoware-20180205150908.bag). You can download it from ROSBAG STORE for free. Otherwise, you need to do localization with a map to produce /tf topic from velodyne to world.
  • wayarea info from vectormap if is possible.

Parameters

Launch file available parameters for imm_ukf_pda_tracker

Parameter Type Description
tracker_input_topic String Input topic(type: autoware_msgs::CloudClusterArray). Default /cloud cluster.
tracker_output_topic String Output topic(type: autoware_msgs::CloudClusterArray). Default /tracking_cluster_array.
life_time_threshold Int The minimum frames for targets to be visualized. Default 8.
gating_threshold Double The value of gate threshold for measurement validation. Default 9.22.
gate_probability Double The probability that the gate contains the true measurement. Default 0.99.
detection_probability Double The probability that a target is detected. Default 0.9.
merge_distance_threshold Double The distance threshold for associating bounding box over frames. Default 0.5.
static_velocity_threshold Double The velocity threshold for classifying static/dynamic. Default 0.5.
static_num_history_threshold Int The amount of frames the velocity is averaged over to compare to static_velocity_threshold. Default 3.
prevent_explosion_threshold Double The threshold for stopping kalman filter update. Default 1000.
use_sukf bool Use standard kalman filter. Default false.

Launch file available parameters for visualize_detected_objects

Parameter Type Description
input_topic String Input topic(type: autoware_msgs::CloudClusterArray). Default /tracking_cluster_array.
pointcloud frame String Pointcloud frame. Default velodyne.

Subscribed topics

Node: imm_ukf_pda_tracker

Topic Type Objective
/detection/lidar_objects autoware_msgs::DetectedObjectArray Segmented pointcloud from a clustering algorithm like eucledian cluster.
/tf tf Tracking objects in world coordinate.

Node: visualize_detected_objects

Topic Type Objective
/detected_objects autoware_msgs::DetectedObjectArray Objects with tracking info.

Published topics

Node: imm_ukf_pda_tracker

Topic Type Objective
/detected_objects autoware_msgs::DetectedObjectArray Added info like velocity, yaw ,yaw_rate and static/dynamic class to DetectedObject msg.
/bounding_boxes_tracked jsk_recognition_msgs::BoundingBoxArray Visualze bounsing box nicely in rviz by JSK bounding box. Label contains information about static/dynamic class

Node: visualize_detected_objects

Topic Type Objective
/detected_objects/velocity_arrow visualization_msgs::Marker Visualize velocity and yaw of the targets.
/detected_objects/target_id visualization_msgs::Marker Visualize targets’ id.

Video

IMM UKF PDA lidar_tracker Autoware

Benchmark

Please notice that benchmark scripts are in another repository. You can tune parameters by using benchmark based on KITTI dataset. The repository is here.

CHANGELOG

Changelog for package lidar_imm_ukf_pda_track

1.11.0 (2019-03-21)

  • [fix] Install commands for all the packages (#1861)

    • Initial fixes to detection, sensing, semantics and utils

    • fixing wrong filename on install command

    • Fixes to install commands

    • Hokuyo fix name

    • Fix obj db

    • Obj db include fixes

    • End of final cleaning sweep

    • Incorrect command order in runtime manager

    • Param tempfile not required by runtime_manager

      • Fixes to runtime manager install commands

    • Remove devel directory from catkin, if any

    • Updated launch files for robosense

    • Updated robosense

    • Fix/add missing install (#1977)

    • Added launch install to lidar_kf_contour_track

    • Added install to op_global_planner

    • Added install to way_planner

    • Added install to op_local_planner

    • Added install to op_simulation_package

    • Added install to op_utilities

    • Added install to sync

      • Improved installation script for pointgrey packages

    • Fixed nodelet error for gmsl cameras

    • USe install space in catkin as well

    • add install to catkin

    • Fix install directives (#1990)

    • Fixed installation path

    • Fixed params installation path

    • Fixed cfg installation path

    • Delete cache on colcon_release
  • Fix license notice in corresponding package.xml
  • check for valid object before prediction
  • Adaptation of Object Filter with new perception workflow
  • Initial release of object filter
  • Contributors: Abraham Monrroy, Abraham Monrroy Cano, amc-nu

1.10.0 (2019-01-17)

  • Fixes for catkin_make
  • Switch to Apache 2 license (develop branch) (#1741)
    • Switch to Apache 2

    * Replace BSD-3 license header with Apache 2 and reassign copyright to the Autoware Foundation.

    • Update license on Python files
    • Update copyright years
    • Add #ifndef/define _POINTS_IMAGE_H_
    • Updated license comment
  • Use colcon as the build tool (#1704)
    • Switch to colcon as the build tool instead of catkin
    • Added cmake-target
    • Added note about the second colcon call
    • Added warning about catkin* scripts being deprecated
    • Fix COLCON_OPTS
    • Added install targets
    • Update Docker image tags
    • Message packages fixes
    • Fix missing dependency
  • Feature/perception visualization cleanup (#1648)
      • Initial commit for visualization package

File truncated at 100 lines see the full file

Package Dependencies

Deps Name
autoware_build_flags
catkin
autoware_msgs
amathutils_lib
pcl_ros
roscpp
roslint
tf
vector_map
lanelet2_extension

System Dependencies

No direct system dependencies.

Dependant Packages

Name Deps
naive_motion_predict

Launch files

  • launch/imm_ukf_pda_track.launch
      • namespace [default: tracking]
      • tracker_input_topic [default: /detection/objects]
      • tracker_output_topic [default: objects]
      • detection_probability [default: 0.9]
      • gate_probability [default: 0.99]
      • gating_threshold [default: 9.22]
      • life_time_threshold [default: 8]
      • merge_distance_threshold [default: 0.5]
      • prevent_explosion_threshold [default: 1000]
      • static_num_history_threshold [default: 3]
      • static_velocity_threshold [default: 0.5]
      • tracking_frame [default: map]
      • use_sukf [default: false]
      • use_map_info [default: false]
      • map_frame [default: map]
      • lane_direction_chi_threshold [default: 2.71]
      • nearest_lane_distance_threshold [default: 1.0]
  • launch/imm_ukf_pda_track_lanelet2.launch
      • namespace [default: tracking]
      • tracker_input_topic [default: /detection/objects]
      • tracker_output_topic [default: objects]
      • detection_probability [default: 0.9]
      • gate_probability [default: 0.99]
      • gating_threshold [default: 9.22]
      • life_time_threshold [default: 8]
      • merge_distance_threshold [default: 0.5]
      • prevent_explosion_threshold [default: 1000]
      • static_num_history_threshold [default: 3]
      • static_velocity_threshold [default: 0.5]
      • tracking_frame [default: map]
      • use_sukf [default: false]
      • use_map_info [default: false]
      • map_frame [default: map]
      • lane_direction_chi_threshold [default: 2.71]
      • nearest_lane_distance_threshold [default: 1.0]
  • launch/imm_ukf_pda_track_option.launch
      • use_ll2 [default: false]
      • namespace [default: tracking]
      • tracker_input_topic [default: /detection/objects]
      • tracker_output_topic [default: objects]
      • detection_probability [default: 0.9]
      • gate_probability [default: 0.99]
      • gating_threshold [default: 9.22]
      • life_time_threshold [default: 8]
      • merge_distance_threshold [default: 0.5]
      • prevent_explosion_threshold [default: 1000]
      • static_num_history_threshold [default: 3]
      • static_velocity_threshold [default: 0.5]
      • tracking_frame [default: map]
      • use_sukf [default: false]
      • use_map_info [default: false]
      • map_frame [default: map]
      • lane_direction_chi_threshold [default: 2.71]
      • nearest_lane_distance_threshold [default: 1.0]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged imm_ukf_pda_track at Robotics Stack Exchange

Package symbol

imm_ukf_pda_track package from autoware_learn repo

amathutils_lib autoware_build_flags autoware_health_checker emergency_handler gnss lanelet2_extension libvectormap libwaypoint_follower map_file object_map op_planner op_ros_helpers op_simu op_utility ros_observer tvm_utility vector_map vector_map_server vehicle_sim_model autoware_connector ekf_localizer gnss_localizer image_processor imm_ukf_pda_track lidar_apollo_cnn_seg_detect lidar_euclidean_cluster_detect lidar_fake_perception lidar_kf_contour_track lidar_localizer lidar_naive_l_shape_detect lidar_point_pillars lidar_shape_estimation naive_motion_predict ndt_cpu ndt_gpu ndt_tku obj_db pcl_omp_registration pixel_cloud_fusion points_downsampler points_preprocessor pos_db range_vision_fusion road_occupancy_processor roi_object_filter trafficlight_recognizer twist_generator vel_pose_diff_checker vision_beyond_track vision_darknet_detect vision_lane_detect vision_segment_enet_detect vision_ssd_detect astar_search costmap_generator decision_maker dp_planner ff_waypoint_follower freespace_planner lane_planner lattice_planner ll2_global_planner mpc_follower op_global_planner op_local_planner op_simulation_package op_utilities pure_pursuit state_machine_lib twist_filter twist_gate way_planner waypoint_maker waypoint_planner autoware_quickstart_examples autoware_can_msgs autoware_config_msgs autoware_external_msgs autoware_lanelet2_msgs autoware_map_msgs autoware_msgs autoware_system_msgs tablet_socket_msgs vector_map_msgs carla_autoware_bridge gazebo_camera_description gazebo_imu_description lgsvl_simulator_bridge vehicle_gazebo_simulation_interface vehicle_gazebo_simulation_launcher wf_simulator autoware_bag_tools autoware_camera_lidar_calibrator autoware_launcher autoware_launcher_rviz calibration_publisher data_preprocessor graph_tools kitti_box_publisher kitti_launch kitti_player lanelet_aisan_converter log_tools map_tf_generator map_tools marker_downsampler mqtt_socket multi_lidar_calibrator oculus_socket pc2_downsampler rosbag_controller runtime_manager sound_player system_monitor tablet_socket twist2odom udon_socket vehicle_engage_panel vehicle_socket decision_maker_panel detected_objects_visualizer fastvirtualscan gazebo_world_description glviewer integrated_viewer points2image rosinterface autoware_rviz_plugins vehicle_description vehicle_model adi_driver as autoware_driveworks_gmsl_interface autoware_driveworks_interface vlg22c_cam custom_msgs garmin hokuyo javad_navsat_driver kvaser sick_lms5xx memsic_imu microstrain_driver nmea_navsat autoware_pointgrey_drivers sick_ldmrs_description sick_ldmrs_driver sick_ldmrs_laser sick_ldmrs_msgs sick_ldmrs_tools vectacam xsens_driver ymc ds4 ds4_driver ds4_msgs lanelet2 lanelet2_core lanelet2_examples lanelet2_io lanelet2_maps lanelet2_matching lanelet2_projection lanelet2_python lanelet2_routing lanelet2_traffic_rules lanelet2_validation mrt_cmake_modules

ROS Distro
github

API Docs
Browse Code

Package Summary

Tags No category tags.
Version 1.12.0
License Apache 2
Build type CATKIN
Use RECOMMENDED

Repository Summary

Description autoware.ai perf
Checkout URI https://github.com/is-whale/autoware_learn.git
VCS Type git
VCS Version 1.14
Last Updated 2025-03-14
Dev Status UNKNOWN
Released UNRELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

imm_ukf_pda_track package

Additional Links

No additional links.

Maintainers

  • Kosuke Murakami

Authors

No additional authors.
autoware/core_perception/imm_ukf_pda_track/README.md

IMM-UKF-PDA Tracker

Autoware package based on IMM-UKF-PDA tracker.

  • From a sourced terminal:

roslaunch lidar_tracker imm_ukf_pda_tracker.launch

  • From Runtime Manager:

Computing Tab -> Detection/ lidar_detector -> imm_ukf_pda_tracker

Reference

A. Arya Senna Abdul Rachman, 3D-LIDAR Multi Object Tracking for Autonomous Driving. 2017. paper

M. Schreire, Bayesian environment representation, prediction, and criticality assessment for driver assistance systems. 2017. paper

Requirements

  • eucledian_cluster node.
  • ray_ground_filter node.
  • /tf topic. Below video is from Suginami data which contais /tf topic: (autoware-20180205150908.bag). You can download it from ROSBAG STORE for free. Otherwise, you need to do localization with a map to produce /tf topic from velodyne to world.
  • wayarea info from vectormap if is possible.

Parameters

Launch file available parameters for imm_ukf_pda_tracker

Parameter Type Description
tracker_input_topic String Input topic(type: autoware_msgs::CloudClusterArray). Default /cloud cluster.
tracker_output_topic String Output topic(type: autoware_msgs::CloudClusterArray). Default /tracking_cluster_array.
life_time_threshold Int The minimum frames for targets to be visualized. Default 8.
gating_threshold Double The value of gate threshold for measurement validation. Default 9.22.
gate_probability Double The probability that the gate contains the true measurement. Default 0.99.
detection_probability Double The probability that a target is detected. Default 0.9.
merge_distance_threshold Double The distance threshold for associating bounding box over frames. Default 0.5.
static_velocity_threshold Double The velocity threshold for classifying static/dynamic. Default 0.5.
static_num_history_threshold Int The amount of frames the velocity is averaged over to compare to static_velocity_threshold. Default 3.
prevent_explosion_threshold Double The threshold for stopping kalman filter update. Default 1000.
use_sukf bool Use standard kalman filter. Default false.

Launch file available parameters for visualize_detected_objects

Parameter Type Description
input_topic String Input topic(type: autoware_msgs::CloudClusterArray). Default /tracking_cluster_array.
pointcloud frame String Pointcloud frame. Default velodyne.

Subscribed topics

Node: imm_ukf_pda_tracker

Topic Type Objective
/detection/lidar_objects autoware_msgs::DetectedObjectArray Segmented pointcloud from a clustering algorithm like eucledian cluster.
/tf tf Tracking objects in world coordinate.

Node: visualize_detected_objects

Topic Type Objective
/detected_objects autoware_msgs::DetectedObjectArray Objects with tracking info.

Published topics

Node: imm_ukf_pda_tracker

Topic Type Objective
/detected_objects autoware_msgs::DetectedObjectArray Added info like velocity, yaw ,yaw_rate and static/dynamic class to DetectedObject msg.
/bounding_boxes_tracked jsk_recognition_msgs::BoundingBoxArray Visualze bounsing box nicely in rviz by JSK bounding box. Label contains information about static/dynamic class

Node: visualize_detected_objects

Topic Type Objective
/detected_objects/velocity_arrow visualization_msgs::Marker Visualize velocity and yaw of the targets.
/detected_objects/target_id visualization_msgs::Marker Visualize targets’ id.

Video

IMM UKF PDA lidar_tracker Autoware

Benchmark

Please notice that benchmark scripts are in another repository. You can tune parameters by using benchmark based on KITTI dataset. The repository is here.

CHANGELOG

Changelog for package lidar_imm_ukf_pda_track

1.11.0 (2019-03-21)

  • [fix] Install commands for all the packages (#1861)

    • Initial fixes to detection, sensing, semantics and utils

    • fixing wrong filename on install command

    • Fixes to install commands

    • Hokuyo fix name

    • Fix obj db

    • Obj db include fixes

    • End of final cleaning sweep

    • Incorrect command order in runtime manager

    • Param tempfile not required by runtime_manager

      • Fixes to runtime manager install commands

    • Remove devel directory from catkin, if any

    • Updated launch files for robosense

    • Updated robosense

    • Fix/add missing install (#1977)

    • Added launch install to lidar_kf_contour_track

    • Added install to op_global_planner

    • Added install to way_planner

    • Added install to op_local_planner

    • Added install to op_simulation_package

    • Added install to op_utilities

    • Added install to sync

      • Improved installation script for pointgrey packages

    • Fixed nodelet error for gmsl cameras

    • USe install space in catkin as well

    • add install to catkin

    • Fix install directives (#1990)

    • Fixed installation path

    • Fixed params installation path

    • Fixed cfg installation path

    • Delete cache on colcon_release
  • Fix license notice in corresponding package.xml
  • check for valid object before prediction
  • Adaptation of Object Filter with new perception workflow
  • Initial release of object filter
  • Contributors: Abraham Monrroy, Abraham Monrroy Cano, amc-nu

1.10.0 (2019-01-17)

  • Fixes for catkin_make
  • Switch to Apache 2 license (develop branch) (#1741)
    • Switch to Apache 2

    * Replace BSD-3 license header with Apache 2 and reassign copyright to the Autoware Foundation.

    • Update license on Python files
    • Update copyright years
    • Add #ifndef/define _POINTS_IMAGE_H_
    • Updated license comment
  • Use colcon as the build tool (#1704)
    • Switch to colcon as the build tool instead of catkin
    • Added cmake-target
    • Added note about the second colcon call
    • Added warning about catkin* scripts being deprecated
    • Fix COLCON_OPTS
    • Added install targets
    • Update Docker image tags
    • Message packages fixes
    • Fix missing dependency
  • Feature/perception visualization cleanup (#1648)
      • Initial commit for visualization package

File truncated at 100 lines see the full file

Package Dependencies

Deps Name
autoware_build_flags
catkin
autoware_msgs
amathutils_lib
pcl_ros
roscpp
roslint
tf
vector_map
lanelet2_extension

System Dependencies

No direct system dependencies.

Dependant Packages

Name Deps
naive_motion_predict

Launch files

  • launch/imm_ukf_pda_track.launch
      • namespace [default: tracking]
      • tracker_input_topic [default: /detection/objects]
      • tracker_output_topic [default: objects]
      • detection_probability [default: 0.9]
      • gate_probability [default: 0.99]
      • gating_threshold [default: 9.22]
      • life_time_threshold [default: 8]
      • merge_distance_threshold [default: 0.5]
      • prevent_explosion_threshold [default: 1000]
      • static_num_history_threshold [default: 3]
      • static_velocity_threshold [default: 0.5]
      • tracking_frame [default: map]
      • use_sukf [default: false]
      • use_map_info [default: false]
      • map_frame [default: map]
      • lane_direction_chi_threshold [default: 2.71]
      • nearest_lane_distance_threshold [default: 1.0]
  • launch/imm_ukf_pda_track_lanelet2.launch
      • namespace [default: tracking]
      • tracker_input_topic [default: /detection/objects]
      • tracker_output_topic [default: objects]
      • detection_probability [default: 0.9]
      • gate_probability [default: 0.99]
      • gating_threshold [default: 9.22]
      • life_time_threshold [default: 8]
      • merge_distance_threshold [default: 0.5]
      • prevent_explosion_threshold [default: 1000]
      • static_num_history_threshold [default: 3]
      • static_velocity_threshold [default: 0.5]
      • tracking_frame [default: map]
      • use_sukf [default: false]
      • use_map_info [default: false]
      • map_frame [default: map]
      • lane_direction_chi_threshold [default: 2.71]
      • nearest_lane_distance_threshold [default: 1.0]
  • launch/imm_ukf_pda_track_option.launch
      • use_ll2 [default: false]
      • namespace [default: tracking]
      • tracker_input_topic [default: /detection/objects]
      • tracker_output_topic [default: objects]
      • detection_probability [default: 0.9]
      • gate_probability [default: 0.99]
      • gating_threshold [default: 9.22]
      • life_time_threshold [default: 8]
      • merge_distance_threshold [default: 0.5]
      • prevent_explosion_threshold [default: 1000]
      • static_num_history_threshold [default: 3]
      • static_velocity_threshold [default: 0.5]
      • tracking_frame [default: map]
      • use_sukf [default: false]
      • use_map_info [default: false]
      • map_frame [default: map]
      • lane_direction_chi_threshold [default: 2.71]
      • nearest_lane_distance_threshold [default: 1.0]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged imm_ukf_pda_track at Robotics Stack Exchange

No version for distro galactic showing github. Known supported distros are highlighted in the buttons above.
Package symbol

imm_ukf_pda_track package from autoware_learn repo

amathutils_lib autoware_build_flags autoware_health_checker emergency_handler gnss lanelet2_extension libvectormap libwaypoint_follower map_file object_map op_planner op_ros_helpers op_simu op_utility ros_observer tvm_utility vector_map vector_map_server vehicle_sim_model autoware_connector ekf_localizer gnss_localizer image_processor imm_ukf_pda_track lidar_apollo_cnn_seg_detect lidar_euclidean_cluster_detect lidar_fake_perception lidar_kf_contour_track lidar_localizer lidar_naive_l_shape_detect lidar_point_pillars lidar_shape_estimation naive_motion_predict ndt_cpu ndt_gpu ndt_tku obj_db pcl_omp_registration pixel_cloud_fusion points_downsampler points_preprocessor pos_db range_vision_fusion road_occupancy_processor roi_object_filter trafficlight_recognizer twist_generator vel_pose_diff_checker vision_beyond_track vision_darknet_detect vision_lane_detect vision_segment_enet_detect vision_ssd_detect astar_search costmap_generator decision_maker dp_planner ff_waypoint_follower freespace_planner lane_planner lattice_planner ll2_global_planner mpc_follower op_global_planner op_local_planner op_simulation_package op_utilities pure_pursuit state_machine_lib twist_filter twist_gate way_planner waypoint_maker waypoint_planner autoware_quickstart_examples autoware_can_msgs autoware_config_msgs autoware_external_msgs autoware_lanelet2_msgs autoware_map_msgs autoware_msgs autoware_system_msgs tablet_socket_msgs vector_map_msgs carla_autoware_bridge gazebo_camera_description gazebo_imu_description lgsvl_simulator_bridge vehicle_gazebo_simulation_interface vehicle_gazebo_simulation_launcher wf_simulator autoware_bag_tools autoware_camera_lidar_calibrator autoware_launcher autoware_launcher_rviz calibration_publisher data_preprocessor graph_tools kitti_box_publisher kitti_launch kitti_player lanelet_aisan_converter log_tools map_tf_generator map_tools marker_downsampler mqtt_socket multi_lidar_calibrator oculus_socket pc2_downsampler rosbag_controller runtime_manager sound_player system_monitor tablet_socket twist2odom udon_socket vehicle_engage_panel vehicle_socket decision_maker_panel detected_objects_visualizer fastvirtualscan gazebo_world_description glviewer integrated_viewer points2image rosinterface autoware_rviz_plugins vehicle_description vehicle_model adi_driver as autoware_driveworks_gmsl_interface autoware_driveworks_interface vlg22c_cam custom_msgs garmin hokuyo javad_navsat_driver kvaser sick_lms5xx memsic_imu microstrain_driver nmea_navsat autoware_pointgrey_drivers sick_ldmrs_description sick_ldmrs_driver sick_ldmrs_laser sick_ldmrs_msgs sick_ldmrs_tools vectacam xsens_driver ymc ds4 ds4_driver ds4_msgs lanelet2 lanelet2_core lanelet2_examples lanelet2_io lanelet2_maps lanelet2_matching lanelet2_projection lanelet2_python lanelet2_routing lanelet2_traffic_rules lanelet2_validation mrt_cmake_modules

ROS Distro
github

API Docs
Browse Code

Package Summary

Tags No category tags.
Version 1.12.0
License Apache 2
Build type CATKIN
Use RECOMMENDED

Repository Summary

Description autoware.ai perf
Checkout URI https://github.com/is-whale/autoware_learn.git
VCS Type git
VCS Version 1.14
Last Updated 2025-03-14
Dev Status UNKNOWN
Released UNRELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

imm_ukf_pda_track package

Additional Links

No additional links.

Maintainers

  • Kosuke Murakami

Authors

No additional authors.
autoware/core_perception/imm_ukf_pda_track/README.md

IMM-UKF-PDA Tracker

Autoware package based on IMM-UKF-PDA tracker.

  • From a sourced terminal:

roslaunch lidar_tracker imm_ukf_pda_tracker.launch

  • From Runtime Manager:

Computing Tab -> Detection/ lidar_detector -> imm_ukf_pda_tracker

Reference

A. Arya Senna Abdul Rachman, 3D-LIDAR Multi Object Tracking for Autonomous Driving. 2017. paper

M. Schreire, Bayesian environment representation, prediction, and criticality assessment for driver assistance systems. 2017. paper

Requirements

  • eucledian_cluster node.
  • ray_ground_filter node.
  • /tf topic. Below video is from Suginami data which contais /tf topic: (autoware-20180205150908.bag). You can download it from ROSBAG STORE for free. Otherwise, you need to do localization with a map to produce /tf topic from velodyne to world.
  • wayarea info from vectormap if is possible.

Parameters

Launch file available parameters for imm_ukf_pda_tracker

Parameter Type Description
tracker_input_topic String Input topic(type: autoware_msgs::CloudClusterArray). Default /cloud cluster.
tracker_output_topic String Output topic(type: autoware_msgs::CloudClusterArray). Default /tracking_cluster_array.
life_time_threshold Int The minimum frames for targets to be visualized. Default 8.
gating_threshold Double The value of gate threshold for measurement validation. Default 9.22.
gate_probability Double The probability that the gate contains the true measurement. Default 0.99.
detection_probability Double The probability that a target is detected. Default 0.9.
merge_distance_threshold Double The distance threshold for associating bounding box over frames. Default 0.5.
static_velocity_threshold Double The velocity threshold for classifying static/dynamic. Default 0.5.
static_num_history_threshold Int The amount of frames the velocity is averaged over to compare to static_velocity_threshold. Default 3.
prevent_explosion_threshold Double The threshold for stopping kalman filter update. Default 1000.
use_sukf bool Use standard kalman filter. Default false.

Launch file available parameters for visualize_detected_objects

Parameter Type Description
input_topic String Input topic(type: autoware_msgs::CloudClusterArray). Default /tracking_cluster_array.
pointcloud frame String Pointcloud frame. Default velodyne.

Subscribed topics

Node: imm_ukf_pda_tracker

Topic Type Objective
/detection/lidar_objects autoware_msgs::DetectedObjectArray Segmented pointcloud from a clustering algorithm like eucledian cluster.
/tf tf Tracking objects in world coordinate.

Node: visualize_detected_objects

Topic Type Objective
/detected_objects autoware_msgs::DetectedObjectArray Objects with tracking info.

Published topics

Node: imm_ukf_pda_tracker

Topic Type Objective
/detected_objects autoware_msgs::DetectedObjectArray Added info like velocity, yaw ,yaw_rate and static/dynamic class to DetectedObject msg.
/bounding_boxes_tracked jsk_recognition_msgs::BoundingBoxArray Visualze bounsing box nicely in rviz by JSK bounding box. Label contains information about static/dynamic class

Node: visualize_detected_objects

Topic Type Objective
/detected_objects/velocity_arrow visualization_msgs::Marker Visualize velocity and yaw of the targets.
/detected_objects/target_id visualization_msgs::Marker Visualize targets’ id.

Video

IMM UKF PDA lidar_tracker Autoware

Benchmark

Please notice that benchmark scripts are in another repository. You can tune parameters by using benchmark based on KITTI dataset. The repository is here.

CHANGELOG

Changelog for package lidar_imm_ukf_pda_track

1.11.0 (2019-03-21)

  • [fix] Install commands for all the packages (#1861)

    • Initial fixes to detection, sensing, semantics and utils

    • fixing wrong filename on install command

    • Fixes to install commands

    • Hokuyo fix name

    • Fix obj db

    • Obj db include fixes

    • End of final cleaning sweep

    • Incorrect command order in runtime manager

    • Param tempfile not required by runtime_manager

      • Fixes to runtime manager install commands

    • Remove devel directory from catkin, if any

    • Updated launch files for robosense

    • Updated robosense

    • Fix/add missing install (#1977)

    • Added launch install to lidar_kf_contour_track

    • Added install to op_global_planner

    • Added install to way_planner

    • Added install to op_local_planner

    • Added install to op_simulation_package

    • Added install to op_utilities

    • Added install to sync

      • Improved installation script for pointgrey packages

    • Fixed nodelet error for gmsl cameras

    • USe install space in catkin as well

    • add install to catkin

    • Fix install directives (#1990)

    • Fixed installation path

    • Fixed params installation path

    • Fixed cfg installation path

    • Delete cache on colcon_release
  • Fix license notice in corresponding package.xml
  • check for valid object before prediction
  • Adaptation of Object Filter with new perception workflow
  • Initial release of object filter
  • Contributors: Abraham Monrroy, Abraham Monrroy Cano, amc-nu

1.10.0 (2019-01-17)

  • Fixes for catkin_make
  • Switch to Apache 2 license (develop branch) (#1741)
    • Switch to Apache 2

    * Replace BSD-3 license header with Apache 2 and reassign copyright to the Autoware Foundation.

    • Update license on Python files
    • Update copyright years
    • Add #ifndef/define _POINTS_IMAGE_H_
    • Updated license comment
  • Use colcon as the build tool (#1704)
    • Switch to colcon as the build tool instead of catkin
    • Added cmake-target
    • Added note about the second colcon call
    • Added warning about catkin* scripts being deprecated
    • Fix COLCON_OPTS
    • Added install targets
    • Update Docker image tags
    • Message packages fixes
    • Fix missing dependency
  • Feature/perception visualization cleanup (#1648)
      • Initial commit for visualization package

File truncated at 100 lines see the full file

Package Dependencies

Deps Name
autoware_build_flags
catkin
autoware_msgs
amathutils_lib
pcl_ros
roscpp
roslint
tf
vector_map
lanelet2_extension

System Dependencies

No direct system dependencies.

Dependant Packages

Name Deps
naive_motion_predict

Launch files

  • launch/imm_ukf_pda_track.launch
      • namespace [default: tracking]
      • tracker_input_topic [default: /detection/objects]
      • tracker_output_topic [default: objects]
      • detection_probability [default: 0.9]
      • gate_probability [default: 0.99]
      • gating_threshold [default: 9.22]
      • life_time_threshold [default: 8]
      • merge_distance_threshold [default: 0.5]
      • prevent_explosion_threshold [default: 1000]
      • static_num_history_threshold [default: 3]
      • static_velocity_threshold [default: 0.5]
      • tracking_frame [default: map]
      • use_sukf [default: false]
      • use_map_info [default: false]
      • map_frame [default: map]
      • lane_direction_chi_threshold [default: 2.71]
      • nearest_lane_distance_threshold [default: 1.0]
  • launch/imm_ukf_pda_track_lanelet2.launch
      • namespace [default: tracking]
      • tracker_input_topic [default: /detection/objects]
      • tracker_output_topic [default: objects]
      • detection_probability [default: 0.9]
      • gate_probability [default: 0.99]
      • gating_threshold [default: 9.22]
      • life_time_threshold [default: 8]
      • merge_distance_threshold [default: 0.5]
      • prevent_explosion_threshold [default: 1000]
      • static_num_history_threshold [default: 3]
      • static_velocity_threshold [default: 0.5]
      • tracking_frame [default: map]
      • use_sukf [default: false]
      • use_map_info [default: false]
      • map_frame [default: map]
      • lane_direction_chi_threshold [default: 2.71]
      • nearest_lane_distance_threshold [default: 1.0]
  • launch/imm_ukf_pda_track_option.launch
      • use_ll2 [default: false]
      • namespace [default: tracking]
      • tracker_input_topic [default: /detection/objects]
      • tracker_output_topic [default: objects]
      • detection_probability [default: 0.9]
      • gate_probability [default: 0.99]
      • gating_threshold [default: 9.22]
      • life_time_threshold [default: 8]
      • merge_distance_threshold [default: 0.5]
      • prevent_explosion_threshold [default: 1000]
      • static_num_history_threshold [default: 3]
      • static_velocity_threshold [default: 0.5]
      • tracking_frame [default: map]
      • use_sukf [default: false]
      • use_map_info [default: false]
      • map_frame [default: map]
      • lane_direction_chi_threshold [default: 2.71]
      • nearest_lane_distance_threshold [default: 1.0]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged imm_ukf_pda_track at Robotics Stack Exchange

No version for distro iron showing github. Known supported distros are highlighted in the buttons above.
Package symbol

imm_ukf_pda_track package from autoware_learn repo

amathutils_lib autoware_build_flags autoware_health_checker emergency_handler gnss lanelet2_extension libvectormap libwaypoint_follower map_file object_map op_planner op_ros_helpers op_simu op_utility ros_observer tvm_utility vector_map vector_map_server vehicle_sim_model autoware_connector ekf_localizer gnss_localizer image_processor imm_ukf_pda_track lidar_apollo_cnn_seg_detect lidar_euclidean_cluster_detect lidar_fake_perception lidar_kf_contour_track lidar_localizer lidar_naive_l_shape_detect lidar_point_pillars lidar_shape_estimation naive_motion_predict ndt_cpu ndt_gpu ndt_tku obj_db pcl_omp_registration pixel_cloud_fusion points_downsampler points_preprocessor pos_db range_vision_fusion road_occupancy_processor roi_object_filter trafficlight_recognizer twist_generator vel_pose_diff_checker vision_beyond_track vision_darknet_detect vision_lane_detect vision_segment_enet_detect vision_ssd_detect astar_search costmap_generator decision_maker dp_planner ff_waypoint_follower freespace_planner lane_planner lattice_planner ll2_global_planner mpc_follower op_global_planner op_local_planner op_simulation_package op_utilities pure_pursuit state_machine_lib twist_filter twist_gate way_planner waypoint_maker waypoint_planner autoware_quickstart_examples autoware_can_msgs autoware_config_msgs autoware_external_msgs autoware_lanelet2_msgs autoware_map_msgs autoware_msgs autoware_system_msgs tablet_socket_msgs vector_map_msgs carla_autoware_bridge gazebo_camera_description gazebo_imu_description lgsvl_simulator_bridge vehicle_gazebo_simulation_interface vehicle_gazebo_simulation_launcher wf_simulator autoware_bag_tools autoware_camera_lidar_calibrator autoware_launcher autoware_launcher_rviz calibration_publisher data_preprocessor graph_tools kitti_box_publisher kitti_launch kitti_player lanelet_aisan_converter log_tools map_tf_generator map_tools marker_downsampler mqtt_socket multi_lidar_calibrator oculus_socket pc2_downsampler rosbag_controller runtime_manager sound_player system_monitor tablet_socket twist2odom udon_socket vehicle_engage_panel vehicle_socket decision_maker_panel detected_objects_visualizer fastvirtualscan gazebo_world_description glviewer integrated_viewer points2image rosinterface autoware_rviz_plugins vehicle_description vehicle_model adi_driver as autoware_driveworks_gmsl_interface autoware_driveworks_interface vlg22c_cam custom_msgs garmin hokuyo javad_navsat_driver kvaser sick_lms5xx memsic_imu microstrain_driver nmea_navsat autoware_pointgrey_drivers sick_ldmrs_description sick_ldmrs_driver sick_ldmrs_laser sick_ldmrs_msgs sick_ldmrs_tools vectacam xsens_driver ymc ds4 ds4_driver ds4_msgs lanelet2 lanelet2_core lanelet2_examples lanelet2_io lanelet2_maps lanelet2_matching lanelet2_projection lanelet2_python lanelet2_routing lanelet2_traffic_rules lanelet2_validation mrt_cmake_modules

ROS Distro
github

API Docs
Browse Code

Package Summary

Tags No category tags.
Version 1.12.0
License Apache 2
Build type CATKIN
Use RECOMMENDED

Repository Summary

Description autoware.ai perf
Checkout URI https://github.com/is-whale/autoware_learn.git
VCS Type git
VCS Version 1.14
Last Updated 2025-03-14
Dev Status UNKNOWN
Released UNRELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

imm_ukf_pda_track package

Additional Links

No additional links.

Maintainers

  • Kosuke Murakami

Authors

No additional authors.
autoware/core_perception/imm_ukf_pda_track/README.md

IMM-UKF-PDA Tracker

Autoware package based on IMM-UKF-PDA tracker.

  • From a sourced terminal:

roslaunch lidar_tracker imm_ukf_pda_tracker.launch

  • From Runtime Manager:

Computing Tab -> Detection/ lidar_detector -> imm_ukf_pda_tracker

Reference

A. Arya Senna Abdul Rachman, 3D-LIDAR Multi Object Tracking for Autonomous Driving. 2017. paper

M. Schreire, Bayesian environment representation, prediction, and criticality assessment for driver assistance systems. 2017. paper

Requirements

  • eucledian_cluster node.
  • ray_ground_filter node.
  • /tf topic. Below video is from Suginami data which contais /tf topic: (autoware-20180205150908.bag). You can download it from ROSBAG STORE for free. Otherwise, you need to do localization with a map to produce /tf topic from velodyne to world.
  • wayarea info from vectormap if is possible.

Parameters

Launch file available parameters for imm_ukf_pda_tracker

Parameter Type Description
tracker_input_topic String Input topic(type: autoware_msgs::CloudClusterArray). Default /cloud cluster.
tracker_output_topic String Output topic(type: autoware_msgs::CloudClusterArray). Default /tracking_cluster_array.
life_time_threshold Int The minimum frames for targets to be visualized. Default 8.
gating_threshold Double The value of gate threshold for measurement validation. Default 9.22.
gate_probability Double The probability that the gate contains the true measurement. Default 0.99.
detection_probability Double The probability that a target is detected. Default 0.9.
merge_distance_threshold Double The distance threshold for associating bounding box over frames. Default 0.5.
static_velocity_threshold Double The velocity threshold for classifying static/dynamic. Default 0.5.
static_num_history_threshold Int The amount of frames the velocity is averaged over to compare to static_velocity_threshold. Default 3.
prevent_explosion_threshold Double The threshold for stopping kalman filter update. Default 1000.
use_sukf bool Use standard kalman filter. Default false.

Launch file available parameters for visualize_detected_objects

Parameter Type Description
input_topic String Input topic(type: autoware_msgs::CloudClusterArray). Default /tracking_cluster_array.
pointcloud frame String Pointcloud frame. Default velodyne.

Subscribed topics

Node: imm_ukf_pda_tracker

Topic Type Objective
/detection/lidar_objects autoware_msgs::DetectedObjectArray Segmented pointcloud from a clustering algorithm like eucledian cluster.
/tf tf Tracking objects in world coordinate.

Node: visualize_detected_objects

Topic Type Objective
/detected_objects autoware_msgs::DetectedObjectArray Objects with tracking info.

Published topics

Node: imm_ukf_pda_tracker

Topic Type Objective
/detected_objects autoware_msgs::DetectedObjectArray Added info like velocity, yaw ,yaw_rate and static/dynamic class to DetectedObject msg.
/bounding_boxes_tracked jsk_recognition_msgs::BoundingBoxArray Visualze bounsing box nicely in rviz by JSK bounding box. Label contains information about static/dynamic class

Node: visualize_detected_objects

Topic Type Objective
/detected_objects/velocity_arrow visualization_msgs::Marker Visualize velocity and yaw of the targets.
/detected_objects/target_id visualization_msgs::Marker Visualize targets’ id.

Video

IMM UKF PDA lidar_tracker Autoware

Benchmark

Please notice that benchmark scripts are in another repository. You can tune parameters by using benchmark based on KITTI dataset. The repository is here.

CHANGELOG

Changelog for package lidar_imm_ukf_pda_track

1.11.0 (2019-03-21)

  • [fix] Install commands for all the packages (#1861)

    • Initial fixes to detection, sensing, semantics and utils

    • fixing wrong filename on install command

    • Fixes to install commands

    • Hokuyo fix name

    • Fix obj db

    • Obj db include fixes

    • End of final cleaning sweep

    • Incorrect command order in runtime manager

    • Param tempfile not required by runtime_manager

      • Fixes to runtime manager install commands

    • Remove devel directory from catkin, if any

    • Updated launch files for robosense

    • Updated robosense

    • Fix/add missing install (#1977)

    • Added launch install to lidar_kf_contour_track

    • Added install to op_global_planner

    • Added install to way_planner

    • Added install to op_local_planner

    • Added install to op_simulation_package

    • Added install to op_utilities

    • Added install to sync

      • Improved installation script for pointgrey packages

    • Fixed nodelet error for gmsl cameras

    • USe install space in catkin as well

    • add install to catkin

    • Fix install directives (#1990)

    • Fixed installation path

    • Fixed params installation path

    • Fixed cfg installation path

    • Delete cache on colcon_release
  • Fix license notice in corresponding package.xml
  • check for valid object before prediction
  • Adaptation of Object Filter with new perception workflow
  • Initial release of object filter
  • Contributors: Abraham Monrroy, Abraham Monrroy Cano, amc-nu

1.10.0 (2019-01-17)

  • Fixes for catkin_make
  • Switch to Apache 2 license (develop branch) (#1741)
    • Switch to Apache 2

    * Replace BSD-3 license header with Apache 2 and reassign copyright to the Autoware Foundation.

    • Update license on Python files
    • Update copyright years
    • Add #ifndef/define _POINTS_IMAGE_H_
    • Updated license comment
  • Use colcon as the build tool (#1704)
    • Switch to colcon as the build tool instead of catkin
    • Added cmake-target
    • Added note about the second colcon call
    • Added warning about catkin* scripts being deprecated
    • Fix COLCON_OPTS
    • Added install targets
    • Update Docker image tags
    • Message packages fixes
    • Fix missing dependency
  • Feature/perception visualization cleanup (#1648)
      • Initial commit for visualization package

File truncated at 100 lines see the full file

Package Dependencies

Deps Name
autoware_build_flags
catkin
autoware_msgs
amathutils_lib
pcl_ros
roscpp
roslint
tf
vector_map
lanelet2_extension

System Dependencies

No direct system dependencies.

Dependant Packages

Name Deps
naive_motion_predict

Launch files

  • launch/imm_ukf_pda_track.launch
      • namespace [default: tracking]
      • tracker_input_topic [default: /detection/objects]
      • tracker_output_topic [default: objects]
      • detection_probability [default: 0.9]
      • gate_probability [default: 0.99]
      • gating_threshold [default: 9.22]
      • life_time_threshold [default: 8]
      • merge_distance_threshold [default: 0.5]
      • prevent_explosion_threshold [default: 1000]
      • static_num_history_threshold [default: 3]
      • static_velocity_threshold [default: 0.5]
      • tracking_frame [default: map]
      • use_sukf [default: false]
      • use_map_info [default: false]
      • map_frame [default: map]
      • lane_direction_chi_threshold [default: 2.71]
      • nearest_lane_distance_threshold [default: 1.0]
  • launch/imm_ukf_pda_track_lanelet2.launch
      • namespace [default: tracking]
      • tracker_input_topic [default: /detection/objects]
      • tracker_output_topic [default: objects]
      • detection_probability [default: 0.9]
      • gate_probability [default: 0.99]
      • gating_threshold [default: 9.22]
      • life_time_threshold [default: 8]
      • merge_distance_threshold [default: 0.5]
      • prevent_explosion_threshold [default: 1000]
      • static_num_history_threshold [default: 3]
      • static_velocity_threshold [default: 0.5]
      • tracking_frame [default: map]
      • use_sukf [default: false]
      • use_map_info [default: false]
      • map_frame [default: map]
      • lane_direction_chi_threshold [default: 2.71]
      • nearest_lane_distance_threshold [default: 1.0]
  • launch/imm_ukf_pda_track_option.launch
      • use_ll2 [default: false]
      • namespace [default: tracking]
      • tracker_input_topic [default: /detection/objects]
      • tracker_output_topic [default: objects]
      • detection_probability [default: 0.9]
      • gate_probability [default: 0.99]
      • gating_threshold [default: 9.22]
      • life_time_threshold [default: 8]
      • merge_distance_threshold [default: 0.5]
      • prevent_explosion_threshold [default: 1000]
      • static_num_history_threshold [default: 3]
      • static_velocity_threshold [default: 0.5]
      • tracking_frame [default: map]
      • use_sukf [default: false]
      • use_map_info [default: false]
      • map_frame [default: map]
      • lane_direction_chi_threshold [default: 2.71]
      • nearest_lane_distance_threshold [default: 1.0]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged imm_ukf_pda_track at Robotics Stack Exchange

No version for distro melodic showing github. Known supported distros are highlighted in the buttons above.
Package symbol

imm_ukf_pda_track package from autoware_learn repo

amathutils_lib autoware_build_flags autoware_health_checker emergency_handler gnss lanelet2_extension libvectormap libwaypoint_follower map_file object_map op_planner op_ros_helpers op_simu op_utility ros_observer tvm_utility vector_map vector_map_server vehicle_sim_model autoware_connector ekf_localizer gnss_localizer image_processor imm_ukf_pda_track lidar_apollo_cnn_seg_detect lidar_euclidean_cluster_detect lidar_fake_perception lidar_kf_contour_track lidar_localizer lidar_naive_l_shape_detect lidar_point_pillars lidar_shape_estimation naive_motion_predict ndt_cpu ndt_gpu ndt_tku obj_db pcl_omp_registration pixel_cloud_fusion points_downsampler points_preprocessor pos_db range_vision_fusion road_occupancy_processor roi_object_filter trafficlight_recognizer twist_generator vel_pose_diff_checker vision_beyond_track vision_darknet_detect vision_lane_detect vision_segment_enet_detect vision_ssd_detect astar_search costmap_generator decision_maker dp_planner ff_waypoint_follower freespace_planner lane_planner lattice_planner ll2_global_planner mpc_follower op_global_planner op_local_planner op_simulation_package op_utilities pure_pursuit state_machine_lib twist_filter twist_gate way_planner waypoint_maker waypoint_planner autoware_quickstart_examples autoware_can_msgs autoware_config_msgs autoware_external_msgs autoware_lanelet2_msgs autoware_map_msgs autoware_msgs autoware_system_msgs tablet_socket_msgs vector_map_msgs carla_autoware_bridge gazebo_camera_description gazebo_imu_description lgsvl_simulator_bridge vehicle_gazebo_simulation_interface vehicle_gazebo_simulation_launcher wf_simulator autoware_bag_tools autoware_camera_lidar_calibrator autoware_launcher autoware_launcher_rviz calibration_publisher data_preprocessor graph_tools kitti_box_publisher kitti_launch kitti_player lanelet_aisan_converter log_tools map_tf_generator map_tools marker_downsampler mqtt_socket multi_lidar_calibrator oculus_socket pc2_downsampler rosbag_controller runtime_manager sound_player system_monitor tablet_socket twist2odom udon_socket vehicle_engage_panel vehicle_socket decision_maker_panel detected_objects_visualizer fastvirtualscan gazebo_world_description glviewer integrated_viewer points2image rosinterface autoware_rviz_plugins vehicle_description vehicle_model adi_driver as autoware_driveworks_gmsl_interface autoware_driveworks_interface vlg22c_cam custom_msgs garmin hokuyo javad_navsat_driver kvaser sick_lms5xx memsic_imu microstrain_driver nmea_navsat autoware_pointgrey_drivers sick_ldmrs_description sick_ldmrs_driver sick_ldmrs_laser sick_ldmrs_msgs sick_ldmrs_tools vectacam xsens_driver ymc ds4 ds4_driver ds4_msgs lanelet2 lanelet2_core lanelet2_examples lanelet2_io lanelet2_maps lanelet2_matching lanelet2_projection lanelet2_python lanelet2_routing lanelet2_traffic_rules lanelet2_validation mrt_cmake_modules

ROS Distro
github

API Docs
Browse Code
Wiki

Package Summary

Tags No category tags.
Version 1.12.0
License Apache 2
Build type CATKIN
Use RECOMMENDED

Repository Summary

Description autoware.ai perf
Checkout URI https://github.com/is-whale/autoware_learn.git
VCS Type git
VCS Version 1.14
Last Updated 2025-03-14
Dev Status UNKNOWN
Released UNRELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

imm_ukf_pda_track package

Additional Links

No additional links.

Maintainers

  • Kosuke Murakami

Authors

No additional authors.
autoware/core_perception/imm_ukf_pda_track/README.md

IMM-UKF-PDA Tracker

Autoware package based on IMM-UKF-PDA tracker.

  • From a sourced terminal:

roslaunch lidar_tracker imm_ukf_pda_tracker.launch

  • From Runtime Manager:

Computing Tab -> Detection/ lidar_detector -> imm_ukf_pda_tracker

Reference

A. Arya Senna Abdul Rachman, 3D-LIDAR Multi Object Tracking for Autonomous Driving. 2017. paper

M. Schreire, Bayesian environment representation, prediction, and criticality assessment for driver assistance systems. 2017. paper

Requirements

  • eucledian_cluster node.
  • ray_ground_filter node.
  • /tf topic. Below video is from Suginami data which contais /tf topic: (autoware-20180205150908.bag). You can download it from ROSBAG STORE for free. Otherwise, you need to do localization with a map to produce /tf topic from velodyne to world.
  • wayarea info from vectormap if is possible.

Parameters

Launch file available parameters for imm_ukf_pda_tracker

Parameter Type Description
tracker_input_topic String Input topic(type: autoware_msgs::CloudClusterArray). Default /cloud cluster.
tracker_output_topic String Output topic(type: autoware_msgs::CloudClusterArray). Default /tracking_cluster_array.
life_time_threshold Int The minimum frames for targets to be visualized. Default 8.
gating_threshold Double The value of gate threshold for measurement validation. Default 9.22.
gate_probability Double The probability that the gate contains the true measurement. Default 0.99.
detection_probability Double The probability that a target is detected. Default 0.9.
merge_distance_threshold Double The distance threshold for associating bounding box over frames. Default 0.5.
static_velocity_threshold Double The velocity threshold for classifying static/dynamic. Default 0.5.
static_num_history_threshold Int The amount of frames the velocity is averaged over to compare to static_velocity_threshold. Default 3.
prevent_explosion_threshold Double The threshold for stopping kalman filter update. Default 1000.
use_sukf bool Use standard kalman filter. Default false.

Launch file available parameters for visualize_detected_objects

Parameter Type Description
input_topic String Input topic(type: autoware_msgs::CloudClusterArray). Default /tracking_cluster_array.
pointcloud frame String Pointcloud frame. Default velodyne.

Subscribed topics

Node: imm_ukf_pda_tracker

Topic Type Objective
/detection/lidar_objects autoware_msgs::DetectedObjectArray Segmented pointcloud from a clustering algorithm like eucledian cluster.
/tf tf Tracking objects in world coordinate.

Node: visualize_detected_objects

Topic Type Objective
/detected_objects autoware_msgs::DetectedObjectArray Objects with tracking info.

Published topics

Node: imm_ukf_pda_tracker

Topic Type Objective
/detected_objects autoware_msgs::DetectedObjectArray Added info like velocity, yaw ,yaw_rate and static/dynamic class to DetectedObject msg.
/bounding_boxes_tracked jsk_recognition_msgs::BoundingBoxArray Visualze bounsing box nicely in rviz by JSK bounding box. Label contains information about static/dynamic class

Node: visualize_detected_objects

Topic Type Objective
/detected_objects/velocity_arrow visualization_msgs::Marker Visualize velocity and yaw of the targets.
/detected_objects/target_id visualization_msgs::Marker Visualize targets’ id.

Video

IMM UKF PDA lidar_tracker Autoware

Benchmark

Please notice that benchmark scripts are in another repository. You can tune parameters by using benchmark based on KITTI dataset. The repository is here.

CHANGELOG

Changelog for package lidar_imm_ukf_pda_track

1.11.0 (2019-03-21)

  • [fix] Install commands for all the packages (#1861)

    • Initial fixes to detection, sensing, semantics and utils

    • fixing wrong filename on install command

    • Fixes to install commands

    • Hokuyo fix name

    • Fix obj db

    • Obj db include fixes

    • End of final cleaning sweep

    • Incorrect command order in runtime manager

    • Param tempfile not required by runtime_manager

      • Fixes to runtime manager install commands

    • Remove devel directory from catkin, if any

    • Updated launch files for robosense

    • Updated robosense

    • Fix/add missing install (#1977)

    • Added launch install to lidar_kf_contour_track

    • Added install to op_global_planner

    • Added install to way_planner

    • Added install to op_local_planner

    • Added install to op_simulation_package

    • Added install to op_utilities

    • Added install to sync

      • Improved installation script for pointgrey packages

    • Fixed nodelet error for gmsl cameras

    • USe install space in catkin as well

    • add install to catkin

    • Fix install directives (#1990)

    • Fixed installation path

    • Fixed params installation path

    • Fixed cfg installation path

    • Delete cache on colcon_release
  • Fix license notice in corresponding package.xml
  • check for valid object before prediction
  • Adaptation of Object Filter with new perception workflow
  • Initial release of object filter
  • Contributors: Abraham Monrroy, Abraham Monrroy Cano, amc-nu

1.10.0 (2019-01-17)

  • Fixes for catkin_make
  • Switch to Apache 2 license (develop branch) (#1741)
    • Switch to Apache 2

    * Replace BSD-3 license header with Apache 2 and reassign copyright to the Autoware Foundation.

    • Update license on Python files
    • Update copyright years
    • Add #ifndef/define _POINTS_IMAGE_H_
    • Updated license comment
  • Use colcon as the build tool (#1704)
    • Switch to colcon as the build tool instead of catkin
    • Added cmake-target
    • Added note about the second colcon call
    • Added warning about catkin* scripts being deprecated
    • Fix COLCON_OPTS
    • Added install targets
    • Update Docker image tags
    • Message packages fixes
    • Fix missing dependency
  • Feature/perception visualization cleanup (#1648)
      • Initial commit for visualization package

File truncated at 100 lines see the full file

Package Dependencies

Deps Name
autoware_build_flags
catkin
autoware_msgs
amathutils_lib
pcl_ros
roscpp
roslint
tf
vector_map
lanelet2_extension

System Dependencies

No direct system dependencies.

Dependant Packages

Name Deps
naive_motion_predict

Launch files

  • launch/imm_ukf_pda_track.launch
      • namespace [default: tracking]
      • tracker_input_topic [default: /detection/objects]
      • tracker_output_topic [default: objects]
      • detection_probability [default: 0.9]
      • gate_probability [default: 0.99]
      • gating_threshold [default: 9.22]
      • life_time_threshold [default: 8]
      • merge_distance_threshold [default: 0.5]
      • prevent_explosion_threshold [default: 1000]
      • static_num_history_threshold [default: 3]
      • static_velocity_threshold [default: 0.5]
      • tracking_frame [default: map]
      • use_sukf [default: false]
      • use_map_info [default: false]
      • map_frame [default: map]
      • lane_direction_chi_threshold [default: 2.71]
      • nearest_lane_distance_threshold [default: 1.0]
  • launch/imm_ukf_pda_track_lanelet2.launch
      • namespace [default: tracking]
      • tracker_input_topic [default: /detection/objects]
      • tracker_output_topic [default: objects]
      • detection_probability [default: 0.9]
      • gate_probability [default: 0.99]
      • gating_threshold [default: 9.22]
      • life_time_threshold [default: 8]
      • merge_distance_threshold [default: 0.5]
      • prevent_explosion_threshold [default: 1000]
      • static_num_history_threshold [default: 3]
      • static_velocity_threshold [default: 0.5]
      • tracking_frame [default: map]
      • use_sukf [default: false]
      • use_map_info [default: false]
      • map_frame [default: map]
      • lane_direction_chi_threshold [default: 2.71]
      • nearest_lane_distance_threshold [default: 1.0]
  • launch/imm_ukf_pda_track_option.launch
      • use_ll2 [default: false]
      • namespace [default: tracking]
      • tracker_input_topic [default: /detection/objects]
      • tracker_output_topic [default: objects]
      • detection_probability [default: 0.9]
      • gate_probability [default: 0.99]
      • gating_threshold [default: 9.22]
      • life_time_threshold [default: 8]
      • merge_distance_threshold [default: 0.5]
      • prevent_explosion_threshold [default: 1000]
      • static_num_history_threshold [default: 3]
      • static_velocity_threshold [default: 0.5]
      • tracking_frame [default: map]
      • use_sukf [default: false]
      • use_map_info [default: false]
      • map_frame [default: map]
      • lane_direction_chi_threshold [default: 2.71]
      • nearest_lane_distance_threshold [default: 1.0]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged imm_ukf_pda_track at Robotics Stack Exchange

No version for distro noetic showing github. Known supported distros are highlighted in the buttons above.
Package symbol

imm_ukf_pda_track package from autoware_learn repo

amathutils_lib autoware_build_flags autoware_health_checker emergency_handler gnss lanelet2_extension libvectormap libwaypoint_follower map_file object_map op_planner op_ros_helpers op_simu op_utility ros_observer tvm_utility vector_map vector_map_server vehicle_sim_model autoware_connector ekf_localizer gnss_localizer image_processor imm_ukf_pda_track lidar_apollo_cnn_seg_detect lidar_euclidean_cluster_detect lidar_fake_perception lidar_kf_contour_track lidar_localizer lidar_naive_l_shape_detect lidar_point_pillars lidar_shape_estimation naive_motion_predict ndt_cpu ndt_gpu ndt_tku obj_db pcl_omp_registration pixel_cloud_fusion points_downsampler points_preprocessor pos_db range_vision_fusion road_occupancy_processor roi_object_filter trafficlight_recognizer twist_generator vel_pose_diff_checker vision_beyond_track vision_darknet_detect vision_lane_detect vision_segment_enet_detect vision_ssd_detect astar_search costmap_generator decision_maker dp_planner ff_waypoint_follower freespace_planner lane_planner lattice_planner ll2_global_planner mpc_follower op_global_planner op_local_planner op_simulation_package op_utilities pure_pursuit state_machine_lib twist_filter twist_gate way_planner waypoint_maker waypoint_planner autoware_quickstart_examples autoware_can_msgs autoware_config_msgs autoware_external_msgs autoware_lanelet2_msgs autoware_map_msgs autoware_msgs autoware_system_msgs tablet_socket_msgs vector_map_msgs carla_autoware_bridge gazebo_camera_description gazebo_imu_description lgsvl_simulator_bridge vehicle_gazebo_simulation_interface vehicle_gazebo_simulation_launcher wf_simulator autoware_bag_tools autoware_camera_lidar_calibrator autoware_launcher autoware_launcher_rviz calibration_publisher data_preprocessor graph_tools kitti_box_publisher kitti_launch kitti_player lanelet_aisan_converter log_tools map_tf_generator map_tools marker_downsampler mqtt_socket multi_lidar_calibrator oculus_socket pc2_downsampler rosbag_controller runtime_manager sound_player system_monitor tablet_socket twist2odom udon_socket vehicle_engage_panel vehicle_socket decision_maker_panel detected_objects_visualizer fastvirtualscan gazebo_world_description glviewer integrated_viewer points2image rosinterface autoware_rviz_plugins vehicle_description vehicle_model adi_driver as autoware_driveworks_gmsl_interface autoware_driveworks_interface vlg22c_cam custom_msgs garmin hokuyo javad_navsat_driver kvaser sick_lms5xx memsic_imu microstrain_driver nmea_navsat autoware_pointgrey_drivers sick_ldmrs_description sick_ldmrs_driver sick_ldmrs_laser sick_ldmrs_msgs sick_ldmrs_tools vectacam xsens_driver ymc ds4 ds4_driver ds4_msgs lanelet2 lanelet2_core lanelet2_examples lanelet2_io lanelet2_maps lanelet2_matching lanelet2_projection lanelet2_python lanelet2_routing lanelet2_traffic_rules lanelet2_validation mrt_cmake_modules

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Package Summary

Tags No category tags.
Version 1.12.0
License Apache 2
Build type CATKIN
Use RECOMMENDED

Repository Summary

Description autoware.ai perf
Checkout URI https://github.com/is-whale/autoware_learn.git
VCS Type git
VCS Version 1.14
Last Updated 2025-03-14
Dev Status UNKNOWN
Released UNRELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

imm_ukf_pda_track package

Additional Links

No additional links.

Maintainers

  • Kosuke Murakami

Authors

No additional authors.
autoware/core_perception/imm_ukf_pda_track/README.md

IMM-UKF-PDA Tracker

Autoware package based on IMM-UKF-PDA tracker.

  • From a sourced terminal:

roslaunch lidar_tracker imm_ukf_pda_tracker.launch

  • From Runtime Manager:

Computing Tab -> Detection/ lidar_detector -> imm_ukf_pda_tracker

Reference

A. Arya Senna Abdul Rachman, 3D-LIDAR Multi Object Tracking for Autonomous Driving. 2017. paper

M. Schreire, Bayesian environment representation, prediction, and criticality assessment for driver assistance systems. 2017. paper

Requirements

  • eucledian_cluster node.
  • ray_ground_filter node.
  • /tf topic. Below video is from Suginami data which contais /tf topic: (autoware-20180205150908.bag). You can download it from ROSBAG STORE for free. Otherwise, you need to do localization with a map to produce /tf topic from velodyne to world.
  • wayarea info from vectormap if is possible.

Parameters

Launch file available parameters for imm_ukf_pda_tracker

Parameter Type Description
tracker_input_topic String Input topic(type: autoware_msgs::CloudClusterArray). Default /cloud cluster.
tracker_output_topic String Output topic(type: autoware_msgs::CloudClusterArray). Default /tracking_cluster_array.
life_time_threshold Int The minimum frames for targets to be visualized. Default 8.
gating_threshold Double The value of gate threshold for measurement validation. Default 9.22.
gate_probability Double The probability that the gate contains the true measurement. Default 0.99.
detection_probability Double The probability that a target is detected. Default 0.9.
merge_distance_threshold Double The distance threshold for associating bounding box over frames. Default 0.5.
static_velocity_threshold Double The velocity threshold for classifying static/dynamic. Default 0.5.
static_num_history_threshold Int The amount of frames the velocity is averaged over to compare to static_velocity_threshold. Default 3.
prevent_explosion_threshold Double The threshold for stopping kalman filter update. Default 1000.
use_sukf bool Use standard kalman filter. Default false.

Launch file available parameters for visualize_detected_objects

Parameter Type Description
input_topic String Input topic(type: autoware_msgs::CloudClusterArray). Default /tracking_cluster_array.
pointcloud frame String Pointcloud frame. Default velodyne.

Subscribed topics

Node: imm_ukf_pda_tracker

Topic Type Objective
/detection/lidar_objects autoware_msgs::DetectedObjectArray Segmented pointcloud from a clustering algorithm like eucledian cluster.
/tf tf Tracking objects in world coordinate.

Node: visualize_detected_objects

Topic Type Objective
/detected_objects autoware_msgs::DetectedObjectArray Objects with tracking info.

Published topics

Node: imm_ukf_pda_tracker

Topic Type Objective
/detected_objects autoware_msgs::DetectedObjectArray Added info like velocity, yaw ,yaw_rate and static/dynamic class to DetectedObject msg.
/bounding_boxes_tracked jsk_recognition_msgs::BoundingBoxArray Visualze bounsing box nicely in rviz by JSK bounding box. Label contains information about static/dynamic class

Node: visualize_detected_objects

Topic Type Objective
/detected_objects/velocity_arrow visualization_msgs::Marker Visualize velocity and yaw of the targets.
/detected_objects/target_id visualization_msgs::Marker Visualize targets’ id.

Video

IMM UKF PDA lidar_tracker Autoware

Benchmark

Please notice that benchmark scripts are in another repository. You can tune parameters by using benchmark based on KITTI dataset. The repository is here.

CHANGELOG

Changelog for package lidar_imm_ukf_pda_track

1.11.0 (2019-03-21)

  • [fix] Install commands for all the packages (#1861)

    • Initial fixes to detection, sensing, semantics and utils

    • fixing wrong filename on install command

    • Fixes to install commands

    • Hokuyo fix name

    • Fix obj db

    • Obj db include fixes

    • End of final cleaning sweep

    • Incorrect command order in runtime manager

    • Param tempfile not required by runtime_manager

      • Fixes to runtime manager install commands

    • Remove devel directory from catkin, if any

    • Updated launch files for robosense

    • Updated robosense

    • Fix/add missing install (#1977)

    • Added launch install to lidar_kf_contour_track

    • Added install to op_global_planner

    • Added install to way_planner

    • Added install to op_local_planner

    • Added install to op_simulation_package

    • Added install to op_utilities

    • Added install to sync

      • Improved installation script for pointgrey packages

    • Fixed nodelet error for gmsl cameras

    • USe install space in catkin as well

    • add install to catkin

    • Fix install directives (#1990)

    • Fixed installation path

    • Fixed params installation path

    • Fixed cfg installation path

    • Delete cache on colcon_release
  • Fix license notice in corresponding package.xml
  • check for valid object before prediction
  • Adaptation of Object Filter with new perception workflow
  • Initial release of object filter
  • Contributors: Abraham Monrroy, Abraham Monrroy Cano, amc-nu

1.10.0 (2019-01-17)

  • Fixes for catkin_make
  • Switch to Apache 2 license (develop branch) (#1741)
    • Switch to Apache 2

    * Replace BSD-3 license header with Apache 2 and reassign copyright to the Autoware Foundation.

    • Update license on Python files
    • Update copyright years
    • Add #ifndef/define _POINTS_IMAGE_H_
    • Updated license comment
  • Use colcon as the build tool (#1704)
    • Switch to colcon as the build tool instead of catkin
    • Added cmake-target
    • Added note about the second colcon call
    • Added warning about catkin* scripts being deprecated
    • Fix COLCON_OPTS
    • Added install targets
    • Update Docker image tags
    • Message packages fixes
    • Fix missing dependency
  • Feature/perception visualization cleanup (#1648)
      • Initial commit for visualization package

File truncated at 100 lines see the full file

Package Dependencies

Deps Name
autoware_build_flags
catkin
autoware_msgs
amathutils_lib
pcl_ros
roscpp
roslint
tf
vector_map
lanelet2_extension

System Dependencies

No direct system dependencies.

Dependant Packages

Name Deps
naive_motion_predict

Launch files

  • launch/imm_ukf_pda_track.launch
      • namespace [default: tracking]
      • tracker_input_topic [default: /detection/objects]
      • tracker_output_topic [default: objects]
      • detection_probability [default: 0.9]
      • gate_probability [default: 0.99]
      • gating_threshold [default: 9.22]
      • life_time_threshold [default: 8]
      • merge_distance_threshold [default: 0.5]
      • prevent_explosion_threshold [default: 1000]
      • static_num_history_threshold [default: 3]
      • static_velocity_threshold [default: 0.5]
      • tracking_frame [default: map]
      • use_sukf [default: false]
      • use_map_info [default: false]
      • map_frame [default: map]
      • lane_direction_chi_threshold [default: 2.71]
      • nearest_lane_distance_threshold [default: 1.0]
  • launch/imm_ukf_pda_track_lanelet2.launch
      • namespace [default: tracking]
      • tracker_input_topic [default: /detection/objects]
      • tracker_output_topic [default: objects]
      • detection_probability [default: 0.9]
      • gate_probability [default: 0.99]
      • gating_threshold [default: 9.22]
      • life_time_threshold [default: 8]
      • merge_distance_threshold [default: 0.5]
      • prevent_explosion_threshold [default: 1000]
      • static_num_history_threshold [default: 3]
      • static_velocity_threshold [default: 0.5]
      • tracking_frame [default: map]
      • use_sukf [default: false]
      • use_map_info [default: false]
      • map_frame [default: map]
      • lane_direction_chi_threshold [default: 2.71]
      • nearest_lane_distance_threshold [default: 1.0]
  • launch/imm_ukf_pda_track_option.launch
      • use_ll2 [default: false]
      • namespace [default: tracking]
      • tracker_input_topic [default: /detection/objects]
      • tracker_output_topic [default: objects]
      • detection_probability [default: 0.9]
      • gate_probability [default: 0.99]
      • gating_threshold [default: 9.22]
      • life_time_threshold [default: 8]
      • merge_distance_threshold [default: 0.5]
      • prevent_explosion_threshold [default: 1000]
      • static_num_history_threshold [default: 3]
      • static_velocity_threshold [default: 0.5]
      • tracking_frame [default: map]
      • use_sukf [default: false]
      • use_map_info [default: false]
      • map_frame [default: map]
      • lane_direction_chi_threshold [default: 2.71]
      • nearest_lane_distance_threshold [default: 1.0]

Messages

No message files found.

Services

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Plugins

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