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59404aa18e
New package mothership/internal/tracker/ implementing full 3-D Unscented Kalman Filter tracking for human figures detected by the fusion engine. Key features: - 6-D UKF state [x, y, z, vx, vy, vz] using gonum.org/v1/gonum/mat - Biomechanical constraints: max horiz velocity 2 m/s, max vert 0.8 m/s, max acceleration 3 m/s², minimum turning radius 0.3 m - Gravity-consistent Z: separate vertical speed cap for natural motion - Blob ID assignment with persistence through up to 3 s occlusion gaps - Collision avoidance: repulsion nudge when blobs closer than 0.4 m - Posture estimation: lying (<0.4 m), seated (<0.8 m), standing/walking from centroid height + horizontal speed - 11 unit tests covering single-person tracking, occlusion recovery, gap persistence, posture transitions, and constraint enforcement Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com> |
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| .marathon | ||
| dashboard | ||
| docs | ||
| firmware | ||
| mothership | ||
| .dockerignore | ||
| .gitignore | ||
| docker-compose.yml | ||
| Dockerfile | ||
| PROGRESS.md | ||
| VERSION | ||