You can create a multi-object tracker to fuse information from radar and video camera sensors. The tracker uses Kalman filters that let you estimate the state of motion of a detected object. Use the sensor measurements made on a detected object to continuously solve for the position and velocity of that object. To track moving objects, you can use constant-velocity or constant-acceleration motion models, or you can define your own models.
|Linear Kalman filter for object tracking|
|Create constant-acceleration linear Kalman filter from detection report|
|Create constant-velocity linear Kalman filter from detection report|
|Extended Kalman filter for object tracking|
|Create constant-acceleration extended Kalman filter from detection report|
|Create constant turn-rate extended Kalman filter from detection report|
|Create constant-velocity extended Kalman filter from detection report|
|Constant velocity state update|
|Jacobian for constant-velocity motion|
|Measurement function for constant velocity motion|
|Jacobian of measurement function for constant velocity motion|
|Constant-acceleration motion model|
|Jacobian for constant-acceleration motion|
|Measurement function for constant-acceleration motion|
|Jacobian of measurement function for constant-acceleration motion|
|Plot detections, tracks, and sensor coverages around vehicle|
|Coverage area plotter for bird's-eye plot|
|Detection plotter for bird's-eye plot|
|Track plotter for bird's-eye plot|
|Lane boundary plotter for bird's-eye plot|
|Lane marking plotter for bird's-eye plot|
|Path plotter for bird's-eye plot|
|Outline plotter for bird's-eye plot|
|Find plotters associated with bird’s-eye plot|
|Clear data from specific plotter of bird’s-eye plot|
|Clear data from bird’s-eye plot|
|Display sensor coverage area on bird's-eye plot|
|Display object detections on bird's-eye plot|
|Display lane boundaries on bird’s-eye plot|
|Display lane markings on bird’s-eye plot|
|Display object outlines on bird's-eye plot|
|Display actor paths on bird’s-eye plot|
|Display object tracks on bird's-eye plot|
|Annotate truecolor or grayscale image or video stream|
|Bird's-Eye Scope||Visualize sensor coverages, detections, and tracks|
Detect and track multiple vehicles with a monocular camera mounted in a vehicle.
Track pedestrians using a camera mounted in a moving car.
Perform automatic detection and motion-based tracking of moving objects in a video by using a multi-object tracker.
Estimate and predict object motion using a Linear Kalman filter.
Estimate and predict object motion using an extended Kalman filter.
Generate a scenario, simulate sensor detections, and use sensor fusion to track simulated vehicles.
Implement a synthetic data simulation for tracking and sensor fusion in Simulink® with Automated Driving Toolbox™.
Visualize sensor coverages, detections, and tracks in a Simulink model.
Configure and use a bird's-eye plot to display sensor coverage, detections, and tracking results around the ego vehicle.
Generate C code for a MATLAB® function that processes data recorded from a test vehicle and tracks the objects around it.