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    發(fā)布日期: 2021-04-17
  • 語言: Matlab
  • 標(biāo)簽: matlab??

資源簡介

GM_PHD_Filter Version 1.09, 13th December 2013 Matlab code by Bryan Clarke b.clarke@acfr.usyd.edu.au with: - some Kalman filter update code by Tim Bailey, taken from his website http://www-personal.acfr.usyd.edu.au/tbailey/software/ - error_ellipse by AJ Johnson, taken from Matlab

資源截圖

代碼片段和文件信息

%CalculatePerformanceMetric
%Last?modified?21?November?2013
%Matlab?code?by?Bryan?Clarke?b.clarke@acfr.usyd.edu.au?

%This?is?an?implementation?of?the?Optimal?Subpattern?Assignment
%(OSPA)?metric?proposed?by?Schuhmacher?et?al?in?
%Schuhmacher?D.;?Ba-Tuong?Vo;?Ba-Ngu?Vo?“A?Consistent?Metric?for?Performance?Evaluation?of?Multi-object?Filters“?Signal?Processing?IEEE?Transactions?on??vol.56?no.8?pp.34473457?Aug.?2008
%X?is?the?estimated?state?in?the?form?[?[x1;?y1;?vx1;?vy1]?[x2;?y2;?vx2;
%vy2]??...]
%Y?is?the?ground?truth?in?the?form?[?[x1;?y1;?vx1;?vy1]?[x2;?y2;?vx2;
%vy2]??...]
%This?isn‘t?actually?important?as?we?will?swap?the?labels?so?that?X
%is?the?label?of?the?shorter?vector?and?Y?is?the?label?of?the?longer.
%cutoff_c?and?order_p?are?parameters?that?control?the?metric?calculation;
%cutoff?is?a?saturation?threshold?order?controls?how?punishing?it?is?to
%larger?errors?versus?smaller?ones.?See?the?paper?by?Schuhmacher?et?al?to
%get?a?handle?on?these?in?more?detail.
%NOTE:?This?implementation?is?still?a?work?in?progress?and?is?a?bit?buggy.?Use?with?caution.
%NOTE:?We?only?use?2D?OSPA?for?position;?we?don‘t?use?the?velocities.
function?ospa?=?CalculateOSPAMetric(X?Y?cutoff_c?order_p)

????m?=?size(X?2);%Length?of?vector?X
????n?=?size(Y?2);%Length?of?vector?Y

????alphas?=?cutoff_c?*?ones(1?n);%Initialise?to?cutoff?overwrite?if?there?is?a?shorter?value
????bestOMATCost?=?-1;
????bestOMATDataAssoc_i?=?[];
????
????%m?(i.e.?the?length?of?X)?needs?to?be?less?than?or?equal?to?n?(the?length?of?Y)
????if(m?>?n)%Swap?them?if?this?is?not?the?case.?X?and?Y?are?just?labels?that?can?be?applied?to?either?vector;?whichever?one?is?estimate?or?truth?is?not?important.
????????tmpX?=?X;
????????tmpm?=?m;
????????X?=?Y;
????????m?=?n;
????????Y?=?tmpX;
????????n?=?tmpm;
????end
????if(m?>?0)%If?there?are?other?values?we?need?to?find?the?best?data?association.
????????%We?calculate?all?potential?combinations?(ie.?subsampling?without
????????%replacement)
????????comboSize?=?m;
????????valuesSampled?=?1:n;
????????allCombos?=?combnk(valuesSampled?comboSize);
????????nCombos?=?size(allCombos?1);
????????
????????%Then?for?each?combination?we?calculate?every?permutation?(i.e.
????????%different?ways?to?order?the?numbers)?to?find?all?possible?data
????????%associations
????????for?i?=?1:nCombos
????????????thisCombo?=?allCombos(i:);%The?combination?we?are?using
????????????allDataAssocs?=?perms(thisCombo);
????????????nDataAssocs?=?size(allDataAssocs?1);
????????????%We?check?all?the?data?associations?for?this?combination
????????????for?j?=?1:nDataAssocs
????????????????thisDataAssoc?=?allDataAssocs(j:);%An?ordered?list?of?the?indices?of?Y?to?match?them?against?the?values?in?X????????????????
????????????????thisY?=?Y(:thisDataAssoc);
????????????????thisOMATCost?=?CalculateOMATMetric(X?thisY?order_p);

????????????????if(bestOMATCost?

?屬性????????????大小?????日期????時間???名稱
-----------?---------??----------?-----??----
?????文件????????8343??2014-01-07?15:19??GM_PHD_Filter_v110\Older_Version_GM_PHD_Filter_Without_EKF\GM_PHD_Filter_v105b\error_ellipse.m
?????文件???????10258??2014-01-07?15:19??GM_PHD_Filter_v110\Older_Version_GM_PHD_Filter_Without_EKF\GM_PHD_Filter_v105b\GM_PHD_Initialisation.m
?????文件????????2683??2014-01-07?15:19??GM_PHD_Filter_v110\Older_Version_GM_PHD_Filter_Without_EKF\GM_PHD_Filter_v105b\GM_PHD_Simulate_Initialise.m
?????文件????????2891??2014-01-07?15:19??GM_PHD_Filter_v110\Older_Version_GM_PHD_Filter_Without_EKF\GM_PHD_Filter_v105b\GM_PHD_Simulate_Measurements.m
?????文件????????9328??2014-01-07?15:19??GM_PHD_Filter_v110\Older_Version_GM_PHD_Filter_Without_EKF\GM_PHD_Filter_v105b\Hungarian.m
?????文件?????????178??2014-01-07?15:19??GM_PHD_Filter_v110\Older_Version_GM_PHD_Filter_Without_EKF\GM_PHD_Filter_v105b\ConvertPlusMinusPi.m
?????文件????????2221??2014-01-07?15:19??GM_PHD_Filter_v110\Older_Version_GM_PHD_Filter_Without_EKF\GM_PHD_Filter_v105b\GM_PHD_Predict_Birth.m
?????文件????????3736??2014-01-07?15:19??GM_PHD_Filter_v110\Older_Version_GM_PHD_Filter_Without_EKF\GM_PHD_Filter_v105b\README.txt.txt
?????文件????????1367??2014-01-07?15:19??GM_PHD_Filter_v110\Older_Version_GM_PHD_Filter_Without_EKF\GM_PHD_Filter_v105b\GM_PHD_Construct_Update_Components.m
?????文件????????1895??2014-01-07?15:19??GM_PHD_Filter_v110\Older_Version_GM_PHD_Filter_Without_EKF\GM_PHD_Filter_v105b\ospa_dist.m
?????文件????????3498??2014-01-07?16:19??GM_PHD_Filter_v110\Older_Version_GM_PHD_Filter_Without_EKF\GM_PHD_Filter_v105b\GM_PHD_Filter.m
?????文件????????2505??2014-01-07?15:19??GM_PHD_Filter_v110\Older_Version_GM_PHD_Filter_Without_EKF\GM_PHD_Filter_v105b\GM_PHD_Estimate.m
?????文件????????1508??2014-01-07?15:19??GM_PHD_Filter_v110\Older_Version_GM_PHD_Filter_Without_EKF\GM_PHD_Filter_v105b\unifpdf_2d.m
?????文件????????2615??2014-01-07?15:19??GM_PHD_Filter_v110\Older_Version_GM_PHD_Filter_Without_EKF\GM_PHD_Filter_v105b\GM_PHD_Simulate_Plot.m
?????文件?????????820??2014-01-07?15:19??GM_PHD_Filter_v110\Older_Version_GM_PHD_Filter_Without_EKF\GM_PHD_Filter_v105b\GM_PHD_Calculate_Performance_Metric.m
?????文件????????6886??2014-01-07?15:36??GM_PHD_Filter_v110\Older_Version_GM_PHD_Filter_Without_EKF\GM_PHD_Filter_v105b\ReleaseNotes.txt
?????文件????????6056??2014-01-07?15:19??GM_PHD_Filter_v110\Older_Version_GM_PHD_Filter_Without_EKF\GM_PHD_Filter_v105b\GM_PHD_Update.m
?????文件????????7162??2014-01-07?15:33??GM_PHD_Filter_v110\Older_Version_GM_PHD_Filter_Without_EKF\GM_PHD_Filter_v105b\GM_PHD_Create_Birth.m
?????文件????????3494??2014-01-07?15:19??GM_PHD_Filter_v110\Older_Version_GM_PHD_Filter_Without_EKF\GM_PHD_Filter_v105b\GM_PHD_Prune.m
?????文件????????1797??2014-01-07?15:19??GM_PHD_Filter_v110\Older_Version_GM_PHD_Filter_Without_EKF\GM_PHD_Filter_v105b\GM_PHD_Predict_Existing.m
?????文件????????4536??2014-01-07?15:19??GM_PHD_Filter_v110\GM_PHD_Filter\CalculateOSPAMetric.m
?????文件????????3509??2014-01-07?15:19??GM_PHD_Filter_v110\GM_PHD_Filter\Test_Jacobian_Calculation.m
?????文件????????8343??2014-01-07?15:19??GM_PHD_Filter_v110\GM_PHD_Filter\error_ellipse.m
?????文件???????10547??2014-01-07?15:19??GM_PHD_Filter_v110\GM_PHD_Filter\GM_PHD_Initialisation.m
?????文件????????4092??2014-01-07?15:19??GM_PHD_Filter_v110\GM_PHD_Filter\GM_EKF_PHD_Simulate_Measurements.m
?????文件????????6999??2014-01-07?15:19??GM_PHD_Filter_v110\GM_PHD_Filter\README.txt
?????文件????????2650??2014-01-07?15:19??GM_PHD_Filter_v110\GM_PHD_Filter\GM_PHD_Simulate_Initialise.m
?????文件????????2770??2014-01-07?15:19??GM_PHD_Filter_v110\GM_PHD_Filter\GM_PHD_Simulate_Measurements.m
?????文件????????2085??2014-01-07?15:19??GM_PHD_Filter_v110\GM_PHD_Filter\Calculate_Jacobian_H.m
?????文件????????9410??2014-01-07?15:19??GM_PHD_Filter_v110\GM_PHD_Filter\Hungarian.m
?????文件?????????178??2014-01-07?15:19??GM_PHD_Filter_v110\GM_PHD_Filter\ConvertPlusMinusPi.m
............此處省略22個文件信息

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