Hi Pavan,
I understand that you want to detect and track the lidar point clouds without using deep learning, you can follow these steps:
- Preprocess Your Point Cloud: Begin by preprocessing your point cloud data according to your specific use case. You can use functions such as ‘pcorganize’ or ‘pcfitplane’ to organize the data or fit planes, respectively.
- Segment the Point Cloud: Utilize the ‘pcsegdist’ function to segment the point cloud into clusters. This function groups the points based on Euclidean distance.
- Extract Desired Clusters: Once the segmentation is complete, extract the clusters that are relevant to your application from the output of ‘pcsegdist’.
- Object Detection: Pass the extracted clusters to the ‘objectDetection’ constructor.
- Track Objects: Use the ‘trackerJPDA’ (Joint Probabilistic Data Association) to track the detected objects.
Here is the example which follows the above workflow:
Refer to the Links below for better understanding:
- https://www.mathworks.com/help/vision/ref/pcsegdist.html
- https://www.mathworks.com/help/fusion/ref/objectdetection.html
- https://www.mathworks.com/help/fusion/ref/trackerjpda-system-object.html
Hope this helps!
