Decay the detection value

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Krishna Sadananda Hegde
回答： Cameron Stabile 2023-5-1
I am using OccupancyMap3d for my work. For the map I am feeding radar range azimuth and elevation information from the detection.
So, I want to know to is there decaying the detection probability option available in occupancymap3d.
For example
From radar I might get false detection in one frame . In next frame thate false detection will not appear. In that case i want to reduce or make dissapear that false detection from the occupanymap3d either by reducing its threshold or ythrough any other option
So, kindly let me know is decaying option is already inbuilt in the function or is there any other option to decay the detection list
Thanks

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回答（1 个）

Cameron Stabile
Cameron Stabile 2023-5-1
Hi Krishna,
As of R2023b there is no option for this behavior, but the usefulness of such functionality is clear. I have created an enhancement geck for the Navigation Toolbox to add this capability to occupancyMap3D. The team will still need to assess this versus other feature work, but you may see it in a future release.
One thing that can help get this prioritized is if you can provide some additional information on how you expect this decay functionality to behave. For example, here are a few questions you can help with:
1) are you expecting all readings to trend back towards a neutral probability (0.5) over time, or just occupied readings?
2) would you want to provide explicit timestamp information on a per-reading basis, or do you expect to call insertPointCloud at fixed intervals, so the timesteps are implicit?
Any additional information you can provide can help, so feel free to offer more details if you think of any.
Best,
Cameron

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