initcaabf

Create constant acceleration alpha-beta tracking filter from detection report

Since R2021a

Syntax

abf = initcaabf(detection)

Description

abf = initcaabf(detection) initializes a constant acceleration alpha-beta tracking filter for object tracking based on information provided in detection.

The function initializes a constant acceleration state with the same convention as constacc and cameas, [x v_x a_x y v_y a_y z v_z a_z].

Examples

Creating Constant Acceleration trackingABF Object from Detection

Create an objectDetection with a position measurement at x=1, y=3 and a measurement noise of [1 0.2; 0.2 2];

detection = objectDetection(0,[1;3],'MeasurementNoise',[1 0.2;0.2 2]);

Use initccabf to create a trackingABF filter initialized at the provided position and using the measurement noise defined above.

ABF = initcaabf(detection);

Check the values of the state and measurement noise. Verify that the filter state, ABF.State, has the same position components as the Detection.Measurement. Verify that the filter measurement noise, ABF.MeasurementNoise, is the same as the Detection.MeasurementNoise values.

ABF.State

ans = 6×1

     1
     0
     0
     3
     0
     0

ABF.MeasurementNoise

ans = 2×2

    1.0000    0.2000
    0.2000    2.0000

Input Arguments

detection — Detection report

objectDetection object

Detection report, specified as an objectDetection object.

Example: detection = objectDetection(0,[1;4.5;3],'MeasurementNoise', [1.0 0 0; 0 2.0 0; 0 0 1.5])

Output Arguments

abf — Constant velocity alpha-beta filter

trackingABF object

Constant acceleration alpha-beta tracking filter for object tracking, returned as a trackingABF object.

Algorithms

• The function computes the process noise matrix assuming a unit standard deviation for the acceleration change rate.

• You can use this function as the FilterInitializationFcn property of trackers.

Extended Capabilities

C/C++ Code Generation
Generate C and C++ code using MATLAB® Coder™.

Version History

Introduced in R2021a