saf_tracker.h File Reference

Particle filtering based 3D multi-target tracker (SAF_TRACKER_MODULE) More...

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Data Structures
struct	tracker3d_config
	User parameters for tracker3d. More...

Functions
void	tracker3d_create (void **const phT3d, tracker3d_config tpars)
	Creates an instance of the mighty tracker3d.
void	tracker3d_destroy (void **const phT3d)
	Destroys an instance of the mighty tracker3d.
void	tracker3d_reset (void *const hT3d)
	Resets an instance of the mighty tracker3d.
void	tracker3d_step (void *const hT3d, float *newObs_xyz, int nObs, float **target_pos_xyz, float **target_var_xyz, int **target_IDs, int *nTargets)
	Tracker time step to update & predict current target locations and to parse new measurements/observations, as described in [1].

Detailed Description

Particle filtering based 3D multi-target tracker (SAF_TRACKER_MODULE)

Based on the RBMCDA [1] MATLAB toolbox (GPLv2 license) by Simo Sa"rkka" and Jouni Hartikainen (Copyright (C) 2003-2008): https://users.aalto.fi/~ssarkka/#softaudio

More information regarding this specific implementation can be found in [2]

See also

[1] Sa"rkka", S., Vehtari, A. and Lampinen, J., 2004, June. Rao- Blackwellized Monte Carlo data association for multiple target tracking. In Proceedings of the seventh international conference on information fusion (Vol. 1, pp. 583-590). I.

[2] McCormack, L., Politis, A. Sa"rkka", S., and Pulkki, V., 2021. Real-Time Tracking of Multiple Acoustical Sources Utilising Rao-Blackwellised Particle Filtering. In 29th European Signal Processing Conference (EUSIPCO), (pp. 206-210).

Author

Leo McCormack

Date

12.08.2020

License

GNU GPLv2

Definition in file saf_tracker.h.