trackerTargetSpec

Target specification for multi-target multi-sensor task-oriented tracker

Since R2024b

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    Syntax

    spec = trackerTargetSpec(domain,category,subcategory)
    spec = trackerTargetSpec("custom")

    Description

    spec = trackerTargetSpec(domain,category,subcategory) creates a target specification based on the application specified by domain, category, and subcategory. You can use tab completion at each input argument to view the available applications. This hierarchy shows the list of prebuilt target specifications available in the toolbox.

    example

    spec = trackerTargetSpec("custom") creates a custom target specification. You can modify the custom target specification by defining a state transition model and a survival model. (since R2025a)

    example

    Examples

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    Open Live Script

    Create a specification for trucks driving on the highway.

    truckSpec = trackerTargetSpec("automotive","truck","highway-driving")
    truckSpec = 
  HighwayTruck with properties:

        ReferenceFrame: 'ego'              
              MaxSpeed: 40           m/s   
       MaxAcceleration: 3            m/s²  
            MaxYawRate: 4            deg/s 
    MaxYawAcceleration: 10           deg/s²
             YawLimits: [-10 10]     deg   
          LengthLimits: [16 22]      m     
           WidthLimits: [2 2.6]      m     
          HeightLimits: [3.5 4.2]    m

    Configure the truck specification based on your application. The trucks of interest have a maximum speed of 80 mph and a maximum turn-rate of 3.5 degrees per second.

    truckSpec.MaxSpeed = 80*0.44704; % m/s
truckSpec.MaxYawRate = 3.5; % deg/s

    You can use the truck specification as an input to the multiSensorTargetTracker function along with your sensor specifications to create a JIPDAtracker that tracks trucks driving on the highway.

    cameraSpec = trackerSensorSpec("automotive","camera","bounding-boxes");
cameraSpec.MountingLocation = [3.7920 0 1.1];
tracker = multiSensorTargetTracker(truckSpec,cameraSpec,"jipda")
    tracker = 
  fusion.tracker.JIPDATracker with properties:

                TargetSpecifications: {[1×1 HighwayTruck]}
                SensorSpecifications: {[1×1 AutomotiveCameraBoxes]}
              MaxMahalanobisDistance: 5
    ConfirmationExistenceProbability: 0.9000
        DeletionExistenceProbability: 0.1000
    Open Live Script

    Create a specification for marine targets.

    marineSpec = trackerTargetSpec("custom")
    marineSpec = 
  CustomTarget with properties:

    StateTransitionModel: []
           SurvivalModel: []

    Define the state transition and survival model of the marine target specification. The targets of interest mostly follow a constant velocity motion. They also have a uniform survival rate survival model, which assumes a constant probability that a target survives from one time step to the next.

    tstModel = targetStateTransitionModel('constant-velocity');
tstModel.VelocityMean = zeros(3,1);
tstModel.VelocityVariance = 100/3*eye(3);
tstModel.AccelerationVariance = 5*eye(3);

tsurvModel = targetSurvivalModel('uniform-survival-rate');

    Configure the marine target specification using the state transition model and the survival model.

    marineSpec.StateTransitionModel = tstModel;
marineSpec.SurvivalModel = tsurvModel;

    Input Arguments

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    Target domain, specified as "aerospace", "automotive", or "custom" (since R2025a).

    Note

    When you specify the domain as "custom", do not specify the category and subcategory input arguments.

    Target category, specified as one of these values:

    • "aircraft" if the domain is "aerospace"

    • "car" or "truck" if the domain is "automotive"

    Target subcategory, specified as one of these values:

    • "general-aviation", "helicopter", "passenger", or "maneuvering" (since R2025a) if the category is "aircraft"

    • "highway-driving" if the category is "car" or "truck"

    Output Arguments

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    Target specification, returned as one of the objects in this table based on the input arguments.

    Input ArgumentsTarget Specification Object
    "aerospace","aircraft","general-aviation"GeneralAviation
    "aerospace","aircraft","helicopter"Helicopter
    "aerospace","aircraft","passenger"PassengerAircraft
    "aerospace","aircraft","maneuvering"ManeuveringAircraft (since R2025a)
    "automotive","car","highway-driving"HighwayCar
    "automotive","truck","highway-driving"HighwayTruck
    "custom"CustomTarget (since R2025a)

    You can use this target specification object to define a tracker using the multiSensorTargetTracker function. You can use the hasTrackerInput function on the spec object to determine if trackers initialized with this spec require additional input for update. Then, you can use the dataFormat function on the spec object to determine the data format required by the tracker.

    Version History

    Introduced in R2024b

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    See Also

    Functions

    Objects

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