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Tracking Filters and Motion Models

Multi-object tracking, motion and measurement models, Kalman filter

Create and initialize alpha-beta and Kalman tracking filters. Employ measurement models for different types of motion such as constant velocity or constant acceleration.

Functions

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cameasMeasurement function for constant-acceleration motion
cameasjacJacobian of measurement function for constant-acceleration motion
constaccConstant-acceleration motion model
constaccjacJacobian for constant-acceleration motion
constturnConstant turn-rate motion model
constturnjacJacobian for constant turn-rate motion
constveljacJacobian for constant-velocity motion
constvelConstant velocity state update
ctmeasMeasurement function for constant turn-rate motion
ctmeasjacJacobian of measurement function for constant turn-rate motion
cvmeasMeasurement function for constant velocity motion
cvmeasjacJacobian of measurement function for constant velocity motion
initcaabfCreate constant acceleration alpha-beta tracking filter from detection report
initcvabfCreate constant velocity tracking alpha-beta filter from detection report
initcaekfCreate constant-acceleration extended Kalman filter from detection report
initcakfCreate constant-acceleration linear Kalman filter from detection report
initcaukfCreate constant-acceleration unscented Kalman filter from detection report
initctekfCreate constant turn-rate extended Kalman filter from detection report
initctukfCreate constant turn-rate unscented Kalman filter from detection report
initcvekfCreate constant-velocity extended Kalman filter from detection report
initcvkfCreate constant-velocity linear Kalman filter from detection report
initcvukfCreate constant-velocity unscented Kalman filter from detection report
trackingABFAlpha-beta filter for object tracking
trackingEKFExtended Kalman filter for object tracking
trackingKFLinear Kalman filter for object tracking
trackingUKFUnscented Kalman filter for object tracking

Topics

Extended Kalman Filters

Estimate and predict object motion using an extended Kalman filter.

Linear Kalman Filters

Estimate and predict object motion using a Linear Kalman filter.