I have two sensors on a single platform (car) which are detecting a target (another car). Suppose

`% Sensor 1 data`

X1 = 100; Y1 = 10; Z1 = 0;% Sensor @ data

X2 = 100.1; Y2 = 9.9; Z2 = 0;% Convert them to object

obj_det = [objectDetection(0.5,[X1,Y1,Z1],'SensorIndex',1),objectDetection(1,[X2,Y2,Z2],'SensorIndex',2)];

#### Initate a tracker & set hasCostMatrixInput to false

`tracker = trackerGNN();tracker.Assignment = 'Auction';tracker.ConfirmationThreshold = [2 5];tracker.DeletionThreshold = [4 5];tracker.AssignmentThreshold = [1000 inf];tracker.HasCostMatrixInput = false;`

Now if i call tracker function I have one track (which means that it fuses both sensors data)

`[~,~,all_tracks,~] = tracker(obj_det,1)`

all_tracks =

objectTrack with properties:

TrackID: 1

BranchID: 0

SourceIndex: 0

UpdateTime: 1

Age: 2

State: [6×1 double]

StateCovariance: [6×6 double]

StateParameters: [1×1 struct]

ObjectClassID: 0

TrackLogic: 'History'

TrackLogicState: [1 1 0 0 0]

IsConfirmed: 1

IsCoasted: 0

IsSelfReported: 1

ObjectAttributes: [1×1 struct]

My advisor's requirement is that i should give external costmatrix so i

#### Initate a tracker & set hasCostMatrixInput to true

`tracker = trackerGNN();tracker.Assignment = 'Auction';tracker.ConfirmationThreshold = [2 5];tracker.DeletionThreshold = [4 5];tracker.AssignmentThreshold = [1000 inf];tracker.HasCostMatrixInput = true;`

Now for first call an empty matrix is required whose rows size matches number of detections so

`cost_matrix_init_val = zeros(0,2);`

Now if i call tracker function with cost matrix, i ve two seperate tracks

`[~,~,all_tracks,~] = tracker(obj_det,1,cost_matrix_init_val)`

all_tracks =

2×1 objectTrack array with properties:

TrackID

BranchID

SourceIndex

UpdateTime

Age

State

StateCovariance

StateParameters

ObjectClassID

TrackLogic

TrackLogicState

IsConfirmed

IsCoasted

IsSelfReported

ObjectAttributes

#### Question:

if i enabled has CostMatrixInput, how to do multisensor fusion in that case as tracker is not fusing them in that case?

## Best Answer