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Feature/i21 obstacle tracker

Lorenz Reithmayr requested to merge feature/i21-obstacle-tracker into main
  • Constant-velocity, constant-heading motion model used to predict future poses of obstacle vessel
  • Calculation of covariance matrix representing uncertainty in predicted poses (to be used in future plotting of uncertainty ellipse on costmap)
  • Predicted poses are rendered on the costmap with the vessel footprint and exclusion buffer as past of the GroundTruth Plugin

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