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Prashant Arora

Last seen: Today |  Active since 2016

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Principal developer for the Sensor Fusion and Tracking Toolbox.

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  • 3 Month Streak
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Answered
trackingKF does not output Kalman Gain
Hi, As of R2024a, trackingKF does not output Kalman gain. We will consider this enhancement in the future releases. As a wor...

17 days ago | 0

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Answered
Get tracks in tracker
Hi John, It sounds like you would like to take a peek into predicted estimates of all the tracks without impacting the interna...

20 days ago | 0

Answered
Multiple Target Tracking using data coming from a real device
Hi, You may find the examples linked below useful. These show how to track objects using data from TI mmWave Radars. Applicat...

1 month ago | 0

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Answered
How does track initialization works when it has two sensor detections in the assignment gate?
Hi Aatif, Your FilterInitializationFcn must return a filter that can correct with both a radar detection or a camera detection....

3 months ago | 0

Answered
The MCU RAM size requirement for Simulink Multi-Object Tracker module
Hi David, The memory required by multi-object trackers depends on how you configure them. The trackers define properties like M...

4 months ago | 0

Answered
Some problems of 'Clusters' in 'Info' of Joint Probabilistic Data Association Multi Object Tracker Block.
Hi, Simulink requires a fixed-size bus data type as an output. Therefore, the "Clusters" element of the "Info" bus is always fi...

5 months ago | 0

Answered
trackingEKF function for state estimation and plotting
Hi Khadeja, Your function signatures for state transition and measurement functions are incorrect. Please refer to the functio...

6 months ago | 0

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Answered
Issues for code generation of trackerPHD and trackingSensorConfiguration using Matlab Coder
Hi Lechi, The tracker defines many of these properties as "nontunable", which means that you cannot change them after C/C++ cod...

7 months ago | 1

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Answered
Error occurred during compilation in the Simulink project 'Track Point Target in Dense Clutter Using GM-PHD Tracker'
Hi Lechi, The reason for this error is the use of an anonymous function as a parameter of the PHD tracker block. Simulink does ...

7 months ago | 1

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Answered
Is there any tracking algorithm utilizing 'assignsd'?
Hi Said, You are right that assignment between tracks and measurements/tracks from multiple sources can be formulated as a S-D ...

7 months ago | 1

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Answered
Need help to use trackingUKF function to track 3D movement of object using measurement data from Radar.
Hi Jo, There are two problems in the code you shared. The order of measurement according to the "cvmeas" function should be [A...

10 months ago | 1

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Answered
How to define a Kalman filter with a delta time dependent process noise?
Hi Joost, The “constvel” and other built-in motion models take advantage of the non-additive EKF/UKF process noise model to des...

1 year ago | 0

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Answered
How to generate the datalog and scenario to track objects?
Hi Alexander, There are two possible interpretations of "position" in your question. I am listing options for both interpretati...

1 year ago | 0

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Answered
Is it correct that the assignmentCostCalulator class is empty after the TOMHT code gen?
Hi Joost, I suspect that the code generation may have inlined all the code from the AssignmentCostCalculator class for speed/pe...

2 years ago | 0

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Answered
For trackingPF in Sensor Fusion and Tracking Toolkit, how to use custom measurement functions returned as a function handle?
Hi Mark, It seems like customMeasurementFcn_returnedHandle is already a function handle. "@customMeasurementFcn_returnedHandl...

2 years ago | 0

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Answered
Class TrackingSensorConfiguration is not supported by coder. Type as it as handle class
Hi Vimal, The trackerPHD must be constructed with a cell array of trackingSensorConfiguration objects. By setting HasSensorConf...

2 years ago | 0

Answered
Are there more detailed descriptions of the TOMHT and JPDA tracker available?
Hi Joost, These two introductory pages provide some more information: Introduction to Multiple Target Tracking - MATLAB & Simu...

2 years ago | 0

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Answered
In the JPDA tracker, is it possible to handle partial radar sweeps?
Hi Joost, There is a fundamental limitation to JPDA tracker that is assumes: All tracks must produces at most one detection p...

2 years ago | 0

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Answered
Get track history after using trackerGNN?
Hi Ryan, There is no existing code/tool in the toolbox that does this automatically. Your method of using TrackID information f...

2 years ago | 0

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Answered
How to set source index of trackergnn?
Hi Ryan, trackerGNN has "TrackerIndex" property that controls the SourceIndex of the output tracks. See the property document...

2 years ago | 1

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Answered
Auction Algorithm is not converging due to round off error in dell 7820
Hi Mehmed, The auction algorithm is indeed suspectible to "price wars" when epsilon is low and cost of assignments are roughly ...

2 years ago | 0

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Answered
bBstatic Radar Example issues
Hi Andre, If you open this example using the link in the doc (which translates to this MATLAB command): openExample('fusion/Tr...

3 years ago | 0

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Answered
Ego-motion compensation in the Grid-based Tracking in Urban Environment example
Hi Steffen, The grid-based tracker (trackerGridRFS) estimates a local or ego-centric dynamic occupancy grid map i.e the dynamic...

3 years ago | 0

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Solved


Acid and water
⚖ ⚖ ⚖ ⚖ ⚖ ⚖ ⚖ ⚖ Assume that there is a 100 liter tank. It is initially fi...

5 years ago

Solved


Number of Even Elements in Fibonacci Sequence
Find how many even Fibonacci numbers are available in the first d numbers. Consider the following first 14 numbers 1 1 2...

5 years ago

Answered
how should I do when I want to input matrix of logical type into from workspace block in simulink.
Hi Shunsuke, To Workspace block does allow you to have logical data into Simulink. That data however, should represent a sign...

6 years ago | 0

Answered
How to export URDF files from Simscape Multibody XML
I don't believe there is a method available from MathWorks to convert a Simscape Multibody XML file to a URDF file. This is prim...

6 years ago | 0

Answered
Options of SLRT UDP send/recv block reverts to defaults when placed inside a reference model
Hi Alexey, UDP Configure and Receive/Sends block in different model hierarchies is currently not supported. I don't believe t...

6 years ago | 0

Answered
Closed Transfer Switch Function
Hi Alasdair, This error originates because the following command returns a mxArray instead of double. You should pass it's ou...

6 years ago | 0

Answered
right click 'open current folder in file manager' not working - Ubuntu/Linux
Hi Mark, This issue is possibly caused due to dependency of MATLAB shipped "libstdc++.so.6" on GLIBCXX and CXXABI libraries, ...

6 years ago | 0

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