Reference for ultralytics/trackers/utils/kalman_filter.py
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ultralytics.trackers.utils.kalman_filter.KalmanFilterXYAH
A KalmanFilterXYAH class for tracking bounding boxes in image space using a Kalman filter.
Implements a simple Kalman filter for tracking bounding boxes in image space. The 8-dimensional state space (x, y, a, h, vx, vy, va, vh) contains the bounding box center position (x, y), aspect ratio a, height h, and their respective velocities. Object motion follows a constant velocity model, and bounding box location (x, y, a, h) is taken as a direct observation of the state space (linear observation model).
Attributes:
Name | Type | Description |
---|---|---|
_motion_mat | ndarray | The motion matrix for the Kalman filter. |
_update_mat | ndarray | The update matrix for the Kalman filter. |
_std_weight_position | float | Standard deviation weight for position. |
_std_weight_velocity | float | Standard deviation weight for velocity. |
Methods:
Name | Description |
---|---|
initiate | Creates a track from an unassociated measurement. |
predict | Runs the Kalman filter prediction step. |
project | Projects the state distribution to measurement space. |
multi_predict | Runs the Kalman filter prediction step (vectorized version). |
update | Runs the Kalman filter correction step. |
gating_distance | Computes the gating distance between state distribution and measurements. |
Examples:
Initialize the Kalman filter and create a track from a measurement
>>> kf = KalmanFilterXYAH()
>>> measurement = np.array([100, 200, 1.5, 50])
>>> mean, covariance = kf.initiate(measurement)
>>> print(mean)
>>> print(covariance)
The Kalman filter is initialized with an 8-dimensional state space (x, y, a, h, vx, vy, va, vh), where (x, y) represents the bounding box center position, 'a' is the aspect ratio, 'h' is the height, and their respective velocities are (vx, vy, va, vh). The filter uses a constant velocity model for object motion and a linear observation model for bounding box location.
Examples:
Initialize a Kalman filter for tracking:
Source code in ultralytics/trackers/utils/kalman_filter.py
gating_distance
gating_distance(
mean: np.ndarray,
covariance: np.ndarray,
measurements: np.ndarray,
only_position: bool = False,
metric: str = "maha",
) -> np.ndarray
Compute gating distance between state distribution and measurements.
A suitable distance threshold can be obtained from chi2inv95
. If only_position
is False, the chi-square distribution has 4 degrees of freedom, otherwise 2.
Parameters:
Name | Type | Description | Default |
---|---|---|---|
mean | ndarray | Mean vector over the state distribution (8 dimensional). | required |
covariance | ndarray | Covariance of the state distribution (8x8 dimensional). | required |
measurements | ndarray | An (N, 4) matrix of N measurements, each in format (x, y, a, h) where (x, y) is the bounding box center position, a the aspect ratio, and h the height. | required |
only_position | bool | If True, distance computation is done with respect to box center position only. | False |
metric | str | The metric to use for calculating the distance. Options are 'gaussian' for the squared Euclidean distance and 'maha' for the squared Mahalanobis distance. | 'maha' |
Returns:
Type | Description |
---|---|
ndarray | Returns an array of length N, where the i-th element contains the squared distance between (mean, covariance) and |
Examples:
Compute gating distance using Mahalanobis metric:
>>> kf = KalmanFilterXYAH()
>>> mean = np.array([0, 0, 1, 1, 0, 0, 0, 0])
>>> covariance = np.eye(8)
>>> measurements = np.array([[1, 1, 1, 1], [2, 2, 1, 1]])
>>> distances = kf.gating_distance(mean, covariance, measurements, only_position=False, metric="maha")
Source code in ultralytics/trackers/utils/kalman_filter.py
initiate
Create a track from an unassociated measurement.
Parameters:
Name | Type | Description | Default |
---|---|---|---|
measurement | ndarray | Bounding box coordinates (x, y, a, h) with center position (x, y), aspect ratio a, and height h. | required |
Returns:
Type | Description |
---|---|
tuple[ndarray, ndarray] | Returns the mean vector (8-dimensional) and covariance matrix (8x8 dimensional) of the new track. Unobserved velocities are initialized to 0 mean. |
Examples:
>>> kf = KalmanFilterXYAH()
>>> measurement = np.array([100, 50, 1.5, 200])
>>> mean, covariance = kf.initiate(measurement)
Source code in ultralytics/trackers/utils/kalman_filter.py
multi_predict
Run Kalman filter prediction step for multiple object states (Vectorized version).
Parameters:
Name | Type | Description | Default |
---|---|---|---|
mean | ndarray | The Nx8 dimensional mean matrix of the object states at the previous time step. | required |
covariance | ndarray | The Nx8x8 covariance matrix of the object states at the previous time step. | required |
Returns:
Type | Description |
---|---|
tuple[ndarray, ndarray] | Returns the mean matrix and covariance matrix of the predicted states. The mean matrix has shape (N, 8) and the covariance matrix has shape (N, 8, 8). Unobserved velocities are initialized to 0 mean. |
Examples:
>>> mean = np.random.rand(10, 8) # 10 object states
>>> covariance = np.random.rand(10, 8, 8) # Covariance matrices for 10 object states
>>> predicted_mean, predicted_covariance = kalman_filter.multi_predict(mean, covariance)
Source code in ultralytics/trackers/utils/kalman_filter.py
predict
Run Kalman filter prediction step.
Parameters:
Name | Type | Description | Default |
---|---|---|---|
mean | ndarray | The 8-dimensional mean vector of the object state at the previous time step. | required |
covariance | ndarray | The 8x8-dimensional covariance matrix of the object state at the previous time step. | required |
Returns:
Type | Description |
---|---|
tuple[ndarray, ndarray] | Returns the mean vector and covariance matrix of the predicted state. Unobserved velocities are initialized to 0 mean. |
Examples:
>>> kf = KalmanFilterXYAH()
>>> mean = np.array([0, 0, 1, 1, 0, 0, 0, 0])
>>> covariance = np.eye(8)
>>> predicted_mean, predicted_covariance = kf.predict(mean, covariance)
Source code in ultralytics/trackers/utils/kalman_filter.py
project
Project state distribution to measurement space.
Parameters:
Name | Type | Description | Default |
---|---|---|---|
mean | ndarray | The state's mean vector (8 dimensional array). | required |
covariance | ndarray | The state's covariance matrix (8x8 dimensional). | required |
Returns:
Type | Description |
---|---|
tuple[ndarray, ndarray] | Returns the projected mean and covariance matrix of the given state estimate. |
Examples:
>>> kf = KalmanFilterXYAH()
>>> mean = np.array([0, 0, 1, 1, 0, 0, 0, 0])
>>> covariance = np.eye(8)
>>> projected_mean, projected_covariance = kf.project(mean, covariance)
Source code in ultralytics/trackers/utils/kalman_filter.py
update
Run Kalman filter correction step.
Parameters:
Name | Type | Description | Default |
---|---|---|---|
mean | ndarray | The predicted state's mean vector (8 dimensional). | required |
covariance | ndarray | The state's covariance matrix (8x8 dimensional). | required |
measurement | ndarray | The 4 dimensional measurement vector (x, y, a, h), where (x, y) is the center position, a the aspect ratio, and h the height of the bounding box. | required |
Returns:
Type | Description |
---|---|
tuple[ndarray, ndarray] | Returns the measurement-corrected state distribution. |
Examples:
>>> kf = KalmanFilterXYAH()
>>> mean = np.array([0, 0, 1, 1, 0, 0, 0, 0])
>>> covariance = np.eye(8)
>>> measurement = np.array([1, 1, 1, 1])
>>> new_mean, new_covariance = kf.update(mean, covariance, measurement)
Source code in ultralytics/trackers/utils/kalman_filter.py
ultralytics.trackers.utils.kalman_filter.KalmanFilterXYWH
Bases: KalmanFilterXYAH
A KalmanFilterXYWH class for tracking bounding boxes in image space using a Kalman filter.
Implements a Kalman filter for tracking bounding boxes with state space (x, y, w, h, vx, vy, vw, vh), where (x, y) is the center position, w is the width, h is the height, and vx, vy, vw, vh are their respective velocities. The object motion follows a constant velocity model, and the bounding box location (x, y, w, h) is taken as a direct observation of the state space (linear observation model).
Attributes:
Name | Type | Description |
---|---|---|
_motion_mat | ndarray | The motion matrix for the Kalman filter. |
_update_mat | ndarray | The update matrix for the Kalman filter. |
_std_weight_position | float | Standard deviation weight for position. |
_std_weight_velocity | float | Standard deviation weight for velocity. |
Methods:
Name | Description |
---|---|
initiate | Creates a track from an unassociated measurement. |
predict | Runs the Kalman filter prediction step. |
project | Projects the state distribution to measurement space. |
multi_predict | Runs the Kalman filter prediction step in a vectorized manner. |
update | Runs the Kalman filter correction step. |
Examples:
Create a Kalman filter and initialize a track
>>> kf = KalmanFilterXYWH()
>>> measurement = np.array([100, 50, 20, 40])
>>> mean, covariance = kf.initiate(measurement)
>>> print(mean)
>>> print(covariance)
The Kalman filter is initialized with an 8-dimensional state space (x, y, a, h, vx, vy, va, vh), where (x, y) represents the bounding box center position, 'a' is the aspect ratio, 'h' is the height, and their respective velocities are (vx, vy, va, vh). The filter uses a constant velocity model for object motion and a linear observation model for bounding box location.
Examples:
Initialize a Kalman filter for tracking:
Source code in ultralytics/trackers/utils/kalman_filter.py
initiate
Create track from unassociated measurement.
Parameters:
Name | Type | Description | Default |
---|---|---|---|
measurement | ndarray | Bounding box coordinates (x, y, w, h) with center position (x, y), width, and height. | required |
Returns:
Type | Description |
---|---|
tuple[ndarray, ndarray] | Returns the mean vector (8 dimensional) and covariance matrix (8x8 dimensional) of the new track. Unobserved velocities are initialized to 0 mean. |
Examples:
>>> kf = KalmanFilterXYWH()
>>> measurement = np.array([100, 50, 20, 40])
>>> mean, covariance = kf.initiate(measurement)
>>> print(mean)
[100. 50. 20. 40. 0. 0. 0. 0.]
>>> print(covariance)
[[ 4. 0. 0. 0. 0. 0. 0. 0.]
[ 0. 4. 0. 0. 0. 0. 0. 0.]
[ 0. 0. 4. 0. 0. 0. 0. 0.]
[ 0. 0. 0. 4. 0. 0. 0. 0.]
[ 0. 0. 0. 0. 0.25 0. 0. 0.]
[ 0. 0. 0. 0. 0. 0.25 0. 0.]
[ 0. 0. 0. 0. 0. 0. 0.25 0.]
[ 0. 0. 0. 0. 0. 0. 0. 0.25]]
Source code in ultralytics/trackers/utils/kalman_filter.py
multi_predict
Run Kalman filter prediction step (Vectorized version).
Parameters:
Name | Type | Description | Default |
---|---|---|---|
mean | ndarray | The Nx8 dimensional mean matrix of the object states at the previous time step. | required |
covariance | ndarray | The Nx8x8 covariance matrix of the object states at the previous time step. | required |
Returns:
Type | Description |
---|---|
tuple[ndarray, ndarray] | Returns the mean vector and covariance matrix of the predicted state. Unobserved velocities are initialized to 0 mean. |
Examples:
>>> mean = np.random.rand(5, 8) # 5 objects with 8-dimensional state vectors
>>> covariance = np.random.rand(5, 8, 8) # 5 objects with 8x8 covariance matrices
>>> kf = KalmanFilterXYWH()
>>> predicted_mean, predicted_covariance = kf.multi_predict(mean, covariance)
Source code in ultralytics/trackers/utils/kalman_filter.py
predict
Run Kalman filter prediction step.
Parameters:
Name | Type | Description | Default |
---|---|---|---|
mean | ndarray | The 8-dimensional mean vector of the object state at the previous time step. | required |
covariance | ndarray | The 8x8-dimensional covariance matrix of the object state at the previous time step. | required |
Returns:
Type | Description |
---|---|
tuple[ndarray, ndarray] | Returns the mean vector and covariance matrix of the predicted state. Unobserved velocities are initialized to 0 mean. |
Examples:
>>> kf = KalmanFilterXYWH()
>>> mean = np.array([0, 0, 1, 1, 0, 0, 0, 0])
>>> covariance = np.eye(8)
>>> predicted_mean, predicted_covariance = kf.predict(mean, covariance)
Source code in ultralytics/trackers/utils/kalman_filter.py
project
Project state distribution to measurement space.
Parameters:
Name | Type | Description | Default |
---|---|---|---|
mean | ndarray | The state's mean vector (8 dimensional array). | required |
covariance | ndarray | The state's covariance matrix (8x8 dimensional). | required |
Returns:
Type | Description |
---|---|
tuple[ndarray, ndarray] | Returns the projected mean and covariance matrix of the given state estimate. |
Examples:
>>> kf = KalmanFilterXYWH()
>>> mean = np.array([0, 0, 1, 1, 0, 0, 0, 0])
>>> covariance = np.eye(8)
>>> projected_mean, projected_cov = kf.project(mean, covariance)
Source code in ultralytics/trackers/utils/kalman_filter.py
update
Run Kalman filter correction step.
Parameters:
Name | Type | Description | Default |
---|---|---|---|
mean | ndarray | The predicted state's mean vector (8 dimensional). | required |
covariance | ndarray | The state's covariance matrix (8x8 dimensional). | required |
measurement | ndarray | The 4 dimensional measurement vector (x, y, w, h), where (x, y) is the center position, w the width, and h the height of the bounding box. | required |
Returns:
Type | Description |
---|---|
tuple[ndarray, ndarray] | Returns the measurement-corrected state distribution. |
Examples:
>>> kf = KalmanFilterXYWH()
>>> mean = np.array([0, 0, 1, 1, 0, 0, 0, 0])
>>> covariance = np.eye(8)
>>> measurement = np.array([0.5, 0.5, 1.2, 1.2])
>>> new_mean, new_covariance = kf.update(mean, covariance, measurement)