MHT Module |
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Directory List
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Control
| AutomobileLaneChange | Implements lane change control by pointing the wheels at the target. |
| AutomobilePassing | Implements passing control by pointing the wheels at the target. |
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Demos/KFDemos
| KFBilliardsDemo | Billiard demo using a Kalman filter to estimate the ball states. |
| UKFAutomobileDemo | UKF automobile demo. |
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Demos/MHTDemos
| MHT1DDemo | One dimensional MHT demo. |
| MHT1DDemoMS | One dimensional MHT test, two vehicles, random accels, multiple sensors |
| MHTAutomobileDemo | MHT automobile demo. |
| MHTBilliardsDemo | MHT billiard demo. |
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DynamicalModels
| BilliardCollision | Billiard collision model. |
| DoubleIntegratorWithAccel | Plant model for a double integrator with an acceleration state. |
| RHSAutomobile | Right hand side for a 2D automobile. |
| RHSAutomobileXY | Double integrator model for a car. |
| RHSBilliards | Billiard ball model. |
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Graphics
| MHTGUI | A graphical user interface (GUI) for multiple hypothesis testing (MHT) |
| MHTHypothesisDisplay | Display hypothesis data in a console view. |
| MHTTrackTable | Generate a uitable object with measurement indices. |
| MHTTreeDiagram | Generates a tree diagram for MHT tracks. |
| TOMHTTree | Generates the Track Oriented MHT matrix and tree. |
| TOMHTTreeAnimation | Animates a TOMHT tree. |
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SensorModels
| AutoRadar | Automotive (2D) radar. |
| AutoRadarUKF | Automotive (2D) radar model for use with UKF. |
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TrackInitialization
| MHTInitializeTrk | Initialize the trk data structure. |
| ScanToTrack1D | Initializes a new track. |
| ScanToTrackAuto | Initializes a new track for an automobile from radar measurements. |
| ScanToTrackBilliards | Initializes a new track. |
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TrackManagement
| CheckForDuplicateTracks | Check for duplicate tracks. |
| MHTInitialize | Initializes the MHT parameter data structure from parameter pairs. |
| MHTTrackMerging | Merges tracks. |
| MHTTrackMgmt | Track management algorithms including track reduction and pruning. |
| TOMHTAssignment | Track oriented MHT assignment. Generates hypotheses. |
| TOMHTPruneTracks | Track-oriented MHT - track pruning algorithm. |
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TrackScoring
| MHTInitialTrackScore | Initialize the track likelihood ratio. |
| MHTTrackScore | Track score given a scan of data. |
| MHTTrackScoreKinematic | Kinematic track score. |
| MHTTrackScoreSignal | Signal track score. |
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Utilities
| AddScan | Add a scan to the scan data structure array. |
| LLRToProb | Convert log likelihood ratios to probablities. |
| MHTDistance | Finds the MHT distance for use in gating computations. |
| MHTDistanceUKF | Finds the MHT distance for use in gating computations using UKF. |
| MHTLLR | Update the log likelihood ratio. |
| MHTLLRUpdate | Update the log likelihood ratio. |
| MHTMatrixSortRows | Sort the matrix rows in ascending order. Move the first non-zero entry |
| MHTMatrixTreeConvert | Convert from MHT track matrix to tree or tree to matrix. |
| MHTTrkToB | Converts a "trk" data structure to a "b" matrix. |
| MahalanobisDistance | Compute the Mahalanobis Distance. |
| PlotTracks | Plot the track states vs. time. Creates one figure with subplots. |
| ProbToLLR | Convert probabilities to log likelihood ratios. |
| Residual | Generates residual, measurement matrix and measurement noise matrix. |
| SpectralRadius | Compute the spectral radius of a matrix. |
| SpectralRadiusJumpMarkov | Compute the spectral radius of a discrete jump Markov system. |
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