Create constant velocity tracking alpha-beta filter from detection report
Creating 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]);
initcvabf to create a
trackingABF filter initialized at the provided position and using the measurement noise defined above.
ABF = initcvabf(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
ans = 4×1 1 0 3 0
ans = 2×2 1.0000 0.2000 0.2000 2.0000
The function computes the process noise matrix assuming a unit acceleration standard deviation.
You can use this function as the
FilterInitializationFcnproperty of trackers.