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JPDA and SystematicResampler Fixes (updated) #193

Merged
merged 3 commits into from
May 6, 2020
Merged

JPDA and SystematicResampler Fixes (updated) #193

merged 3 commits into from
May 6, 2020

Commits on May 5, 2020

  1. Sort particles by weight before cumsum. 

    Particles are sorted before calculating the cumulative sum array. Thus when particles are resampled, they are drawn from the ordered distribution, rather than randomly.
    @JPompeus @sglvladi
    JPompeus authored and sglvladi committed May 5, 2020
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  2. JPDA to handle asynchronous measurements 

    The prediction and measurement prediction were originally set for every hypothesis in the multihypothesis as for the missed detection state. This causes spurious results at the update step if the measurements in the multihypothesis are asynchronous (e.g. grouped by a time-windowing feeder class), and the sensor platform is moving. In this case, the updated state is calculated using the sensor's translation offset at the missed detection timestamp (i.e. the latest timestamp in the window), but for a position measurement taken at the measurement timestamp (which may be earlier in the window).
This fix attaches the prediction/measurement prediction calculated for the measurement to the relevant SingleHypothesis, such that the update is calculated using the correct sensor offset for the measurement timestamp.
    @JPompeus @sglvladi
    JPompeus authored and sglvladi committed May 5, 2020
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  3. Minor fixes and update

    @sglvladi
    sglvladi committed May 5, 2020
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