Detailed explanation of target tracking sort code (python&c++)

1. The principle of sort tracking

1.1 Tracking process

• (1) carry out 目标检测, obtain检测目标
• 跟踪目标(2) Perform the stored预测
• (3) Match the 检测目标sum 跟踪目标of
  • For those that can and 检测目标match 跟踪目标, use the detection target 更新to track the target
  • On 没有匹配the detection target, set to新的跟踪目标
• (4) Track target 每被跟踪上一次, track count+1
  • track target 没有被匹配, unmatched count+1
• (5) When the number of continuous tracking meets the set threshold, the result will be output. 长时间未被匹配(Not matched more than > max_age),跟踪目标删除

整个跟踪过程大体上分为5步, to put it simply, first use 目标检测算法the target , and then use 检测the historically stored tracking target . Compare the detected target with the predicted tracking target ( ), if so, use the matching one to update , ifkalman预测匹配比如iou>iou_threshold匹配上检测目标对跟踪目标update没