A Gaussian-Mixtures Probability Hypothesis Density (GM-PHD) filter for multitarget tracking in a bayesian framework. It allows you to track targets over time, given noisy measurements and missed observations. It's implemented as an header-only templated library.
Eigen, and OpenCV for the quick and dirty demo
After cloning, it's as simple as (unix, for windows you could probably do something with the CMake GUI):
-
mkdir build -
cd build -
cmake ..(orcmake .. -DDEMO=1if you want to build the demo executable) -
make
Code quality is not top notch, leaves a lot to be desired. Feel free to contribute, just check that Travis CI is still happy from time to time..
The MIT License (MIT) Copyright (c) 2013 Benjamin Lefaudeux
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