[ogrex]

Need to merge with autowarefoundation/autoware_launch#1615

Description

This pull request enhances the logic for merging overlapped trackers in the multi-object tracker by introducing a dynamic threshold for the generalized IoU metric that adapts based on the speed of the tracked object. This change aims to improve the accuracy of tracker pruning, especially for objects with unknown classifications, by making the overlap criteria more sensitive to object motion.

Tracker pruning logic improvements

• Added the calcGeneralizedIoUThresholdUnknown function in processor.cpp to compute a speed-dependent generalized IoU threshold, allowing for more nuanced handling of static and moving objects when their classification is unknown.
• Updated the overlap check in mergeOverlappedTracker to use the dynamic IoU threshold for unknown objects, replacing the previous static threshold and improving merge decisions for moving versus static targets.
• Inserted logic to calculate the speed of the relevant object (target if known, otherwise source) and apply the new threshold accordingly during tracker merging.

Detailed Explanation of Parameters

static_target_speed

• Objects moving below this speed should always be detected when there is a nearby unknown object.
• Current setting: 1.38 m/s (≈5 km/h), which corresponds to normal pedestrian walking speed.
• Rationale: A vehicle moving at this low speed is nearly the same as a walking human, nearby unknown pedestrians should be reliably detected.

moving_target_speed

• Objects moving above this speed should always merge with nearby unknown objects to prevent false unknown detections.
• Current setting: 5.5 m/s (≈20 km/h), which represents a typical speed of a car in slow urban driving.
• Rationale: At this speed, the object should be treated as a normal vehicle, and we should avoid false unknown detections.

Comparison

Before(Red) After(Green)
After this fix, the UNKNOWN object is kept without being merged into nearby TRUCK

simplescreenrecorder-2025-08-19_11.12.30.mp4

For moving target, UNKNOWN is merged as before

simplescreenrecorder-2025-08-19_11.37.05.mp4

In simulated scenes where we put different speed TRUCK with UNKNOWN nearby:
Before

before.mp4

After

after.mp4

Related links

Parent Issue:

• Link

How was this PR tested?

Notes for reviewers

None.

Interface changes

None.

Effects on system behavior

None.

[github-actions]

Thank you for contributing to the Autoware project!

🚧 If your pull request is in progress, switch it to draft mode.

Please ensure:

• You've checked our contribution guidelines.
• Your PR follows our pull request guidelines.
• All required CI checks pass before marking the PR ready for review.

[xmfcx]

• We've switched the CI to use pre-commit-lite with:
  • feat: add pre-commit-lite workflow #11240

I've rebased this PR to main to test if it works, you can continue as usual, thanks 👍

[Copilot]

Pull Request Overview

This pull request enhances the multi-object tracker by implementing dynamic generalized IoU thresholds for merging overlapped trackers based on target object speed. The improvement specifically addresses scenarios where objects have unknown classifications by making the overlap criteria more sensitive to object motion, preventing incorrect merging of static and moving objects.

• Added speed-dependent IoU threshold calculation for unknown objects using linear interpolation between static and moving speed ranges
• Updated tracker merging logic to use dynamic thresholds when one object has unknown classification
• Enhanced merge decision accuracy by considering object velocity in overlap determination

---

_{Tip: Customize your code reviews with copilot-instructions.md. Create the file or learn how to get started.}

[codecov]

Codecov Report

❌ Patch coverage is 66.66667% with 5 lines in your changes missing coverage. Please review.
✅ Project coverage is 20.34%. Comparing base (3e58091) to head (7bc384e).
⚠️ Report is 2 commits behind head on main.

Files with missing lines	Patch %	Lines
...i_object_tracker/src/multi_object_tracker_node.cpp	0.00%	4 Missing ⚠️
...e_multi_object_tracker/src/processor/processor.cpp	90.90%	0 Missing and 1 partial ⚠️

Additional details and impacted files

@@            Coverage Diff             @@
##             main   #11237      +/-   ##
==========================================
+ Coverage   20.20%   20.34%   +0.13%     
==========================================
  Files        1512     1513       +1     
  Lines      109848   110079     +231     
  Branches    35940    36006      +66     
==========================================
+ Hits        22200    22397     +197     
- Misses      70526    70742     +216     
+ Partials    17122    16940     -182     

Flag	Coverage Δ		*Carryforward flag
daily	21.85% <ø> (-0.01%)	⬇️	Carriedforward from e2f9741
daily-cuda	20.20% <ø> (-0.01%)	⬇️	Carriedforward from e2f9741
differential	38.22% <66.66%> (?)
differential-cuda	38.22% <66.66%> (?)
total-cuda	20.19% <ø> (-0.01%)	⬇️	Carriedforward from e2f9741

*This pull request uses carry forward flags. Click here to find out more.

☔ View full report in Codecov by Sentry.
📢 Have feedback on the report? Share it here.

🚀 New features to boost your workflow:

• ❄️ Test Analytics: Detect flaky tests, report on failures, and find test suite problems.

[technolojin]

Similar issue has been resolved with this fix

before

after

[technolojin]

LGTM