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feat(social-bot): Multi-modal tracking fusion — vision+UWB handoff + Kalman + predictive tracking #92

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opened 2026-03-01 22:56:36 -05:00 by sl-jetson · 0 comments
sl-jetson commented 2026-03-01 22:56:36 -05:00
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Summary

Sensor fusion for robust person tracking: vision+UWB handoff, Kalman filter, predictive tracking at EUC speeds.

Requirements

  • Vision+UWB handoff: Seamless switch between camera tracking and UWB when one loses signal
  • Kalman filter: Fuse UWB range, camera position, IMU data into smooth position estimate
  • Predictive tracking: Extrapolate target position during sensor gaps (critical at 20-30 km/h)
  • Signal loss recovery: Re-acquire target after occlusion or UWB dropout
  • EUC speed handling: Track targets moving at 20-30 km/h with low latency
  • Confidence scoring: Per-source confidence, graceful degradation
  • ROS2: /social/tracking/fused_target (PoseStamped + velocity + confidence)

Agent: sl-controls

Labels: social-bot, navigation

## Summary Sensor fusion for robust person tracking: vision+UWB handoff, Kalman filter, predictive tracking at EUC speeds. ## Requirements - **Vision+UWB handoff**: Seamless switch between camera tracking and UWB when one loses signal - **Kalman filter**: Fuse UWB range, camera position, IMU data into smooth position estimate - **Predictive tracking**: Extrapolate target position during sensor gaps (critical at 20-30 km/h) - **Signal loss recovery**: Re-acquire target after occlusion or UWB dropout - **EUC speed handling**: Track targets moving at 20-30 km/h with low latency - **Confidence scoring**: Per-source confidence, graceful degradation - **ROS2**: /social/tracking/fused_target (PoseStamped + velocity + confidence) ## Agent: sl-controls ## Labels: social-bot, navigation
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shaytac sl-controls sl-firmware sl-jetson sl-mechanical sl-perception sl-uwb sl-webui seb
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Reference: seb/saltylab-firmware#92
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