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Particularity Kalman Filter Computer Vision
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Hi everybody! I have a theoretical question about an implementation that MATLAB gives about the Kalman Filter obtainable with the function configureKalmanFilter.
In particular, whenever there has been the need to write a Kalman Filter aimed to track position, velocity and acceleration I've also written a state transition matrix that contemplates also the acceleration into the estimation of the variable associated to the position, basically writing the formula:
x(t+1) = x(t) + v(t) + 0.5*a(t)
(where the time does not compare near the acceleration term since it's unitary)
Analyzing instead the solution it is proposed into the function I observed that only the velocity term is considered in the computation of the state, ignoring any acceleration.
My question is so: Why did you choose to apply such structure instead of entirely rewriting the typical equation of uniformly accelerated motions?
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Dima Lisin
2015년 9월 3일
Hi Federico,
The configureKalmanFilter function lets you specify the motion model, which can be 'ConstantVelocity' or 'ConstantAcceleration'. If you choose 'ConstantAcceleration' then the state transition matrix A will be set to account for the acceleration. If you have a motion model, in which acceleration is not constant, then you would have to construct the vision.KalmanFilter object "manually" using the constructor, and specify the appropriate state transition matrix.
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