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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