How can I know whether the track was updated with which sensor in centralized tracking?

Hi, I am trying to achieve centralized tracking using camera and radar detections using trackerGNN, trackerJPDA and trackerTOMHT. I distinguish between the two sensors using SensorIndex. I would like to know from which sensor my track was initialized or updated or is now assigned to. Is there any possiblility to know that?

Thank you in advance.

Answer 1

[Divyanshu]

Hi Aatif,

Here are few key-points you can go through to better understand how tracks are initiated and updated using sensors in centralized tracking:

• Firstly, it is difficult to predict/determine which sensor initiated the track, it depends on multiple factors.
• The tracker will create a track using one of the detections (either camera or radar) and correct it with the other detection.
• Both cases are possible, initiate using camera detection and correct with radar detection as well as initiate with radar detection and correct with camera detection.
• The order of pick depends on the SensorIndex as well as the timestamp of the detection
• You can check out the output from the trackers (analysis info) to understand the decisions taken by tracker at each step.

Please refer the following documentation to get more details on how to use analysis info:

Analyze Track and Detection Association Using Analysis Info - MATLAB & Simulink (mathworks.com)