Position Filtering with Ego Motion Compensation
When tracking an object’s position, it is typically done from the ego vehicle’s perspective. However, the ego’s motion makes tracking the object somewhat difficult. The basic idea is to perform the tracking in the world coordinate system, then transform the results into the ego-car’s coordinate system. In this post, we will discuss how to concisely incorporate the ego’s motion into the object tracking process. Continuous Form Coordinate Definitions The target’s movement in the world coordinate: $\mathbf{o}(t)$; ego-car movement in the world coordinate: $\mathbf{g}(t)$; ego-car’s heading angle: $\theta(t)$; observed target’s coordinate relative to the ego-car: $\mathbf{x}(t)$. ...