Create constant turn-rate rectangular target
initializes a constant turn-rate rectangular target
phd = initctrectgmphd(
gmphd filter based on information provided in object detections,
detections. The function initializes a constant turn-rate rectangular
state with the same convention as
y; s; θ; ω;
L; W]. See Algorithms for the meaning of these
Load detections generated by a rectangular target and the corresponding truth.
Initialize the filter using detections.
phd = initctrectgmphd(detections);
Display the estimated state and the truth state.
estState = phd.States
estState = 7×1 -0.0688 49.2233 0 0 0 3.3942 0.9871
truthState = 7×1 0 50.0000 0 30.0000 0 4.7000 1.8000
detections— Object detections
Object detections, specified as a cell array of
objectDetection objects. You can create
directly, or you can obtain
detections from the outputs of sensor
objects, such as
detection = objectDetection(0,[1;4.5;3],'MeasurementNoise',[1.0 0
0; 0 2.0 0; 0 0 1.5])
You can use
initctrectgmphd as the
FilterInitializationFcn property of
When detections are provided as input, the function adds one component to the density, which reflects the mean of the detections. When the function is called without any inputs, a filter is initialized with no components in the density.
The function uses the spread of measurements to specify the length and width of the rectangle.
The function configures the process noise of the filter by assuming a unit acceleration and a unit yaw-acceleration standard deviation.
The function specifies a maximum of 500 components in the filter.
The function configures the covariance of the state using a unit covariance in observed dimensions.
The rectangular target state contains [x; y; s;θ; ω; L; W]:
Position of the rectangle center in x direction
Position of the rectangle center in y direction
Speed in the heading direction
Orientation angle of the rectangle with respect to x direction
Length of the rectangle
Width of the rectangle