Motlib
A C++ library implementing multiple object tracking algorithms based on Random Finite Set (RFS) theory, including the Gaussian Mixture Probability Hypothesis Density (GM-PHD) filter.
Features
- GM-PHD Filter: Gaussian Mixture implementation of the PHD filter for multi-target tracking
- Birth/Death modeling: Handles target spawning and disappearance
- Clutter management: Robust to false detections and missed observations
- Track extraction: Automatic track management and pruning
- Flexible interface: Supports various motion and measurement models
Technologies
- C++17 - Core implementation
- Eigen - Matrix operations and linear algebra
- CMake - Build system