[Kalman Filter] SORT(Simple Online and Realtime Tracking)

Darknet은 별도로 실행시키셔서 Published Bounding Boxes를 칼만필터 이용해 Tracking 합니다.
Tracked Boxes는 다시 publishing 합니다.

CPP 수정하다가 멈춘 파일을 발견해서 Ros에서 작동되게끔 수정해보았습니다.
https://github.com/mkyun2/ROS_SORT

GitHub - mkyun2/ROS_SORT

Contribute to mkyun2/ROS_SORT development by creating an account on GitHub.

github.com

Blue:Prediction

Green:Measurement

Red:Correction

Process Noise < Measurement Noise

Process Noise > Measurement Noise

Test Environment

Ubuntu 18.04, ROS Melodic, C++, Opencv 3.4.16

git clone git@github.com:mkyun2/ROS_SORT.git

Should be executing YOLO-ROS before executing SORT

catkin_make
rosrun ros_sort ros_sort_node

Working Video

I refer to below

https://github.com/abewley/sort

https://github.com/mcximing/

https://github.com/engcang/

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