Initial Stone Soup alpha release for demonstrating and testing the framework interfaces.
Components
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Data and Simulation
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- Simple single and multi target ground truth simulator utilising transition model
- Simple detection simulator utilising measurement model (fed by real or simulated ground truth)
- Generic CSV detection reader
Data Association and Hypothesis
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- Nearest Neighbour (NN) and Global NN (non-optimised) data associators
- Mahalanobis distance hypothesiser
Models
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- _n_-dimension linear measurement model
- Constant Velocity, Acceleration and Turn; Singer and generic matrix transition models (including combinations for _n_-dimensions).
Track Initiation and Deletion
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- Covariance Based Deleter
- Single Point Initiator (both Gaussian state and particle state distributions)
Predictors and Updaters
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- Kalman and Extended Kalman predictors and updaters
- Particle predictor and updater
Trackers and Smoothers
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- Linear Gaussian smoother
- Single and Multi target tracker