Tracking Filters and Motion Models
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
Measurement Functions
cameas | Measurement function for constant-acceleration motion model (Since R2021a) |
cameasjac | Jacobian of measurement function for constant-acceleration motion model (Since R2021a) |
constacc | State transition function for constant-acceleration motion model (Since R2021a) |
constaccjac | Jacobian of state transition function based on constant-acceleration motion model (Since R2021a) |
constturn | State transition function for constant turn-rate and velocity-magnitude motion model (Since R2021a) |
constturnjac | Jacobian of state transition function based on constant turn-rate and velocity-magnitude motion (Since R2021a) |
constveljac | Jacobian of state transition function based on constant-velocity motion model (Since R2021a) |
constvel | State transition function for constant-velocity motion model (Since R2021a) |
ctmeas | Measurement function for constant turn-rate and velocity-magnitude motion model (Since R2021a) |
ctmeasjac | Jacobian of measurement function for constant turn-rate and velocity- magnitude motion model (Since R2021a) |
cvmeas | Measurement function for constant-velocity motion model (Since R2021a) |
cvmeasjac | Jacobian of measurement function for constant-velocity motion model (Since R2021a) |
Initialization Functions
initcaabf | Create constant acceleration alpha-beta tracking filter from detection report (Since R2021a) |
initcvabf | Create constant velocity tracking alpha-beta filter from detection report (Since R2021a) |
initcaekf | Create constant-acceleration extended Kalman filter from detection report (Since R2021a) |
initcakf | Create constant-acceleration linear Kalman filter from detection report (Since R2021a) |
initcaukf | Create constant-acceleration unscented Kalman filter from detection report (Since R2021a) |
initctekf | Create constant turn-rate extended Kalman filter from detection report (Since R2021a) |
initctukf | Create constant turn-rate unscented Kalman filter from detection report (Since R2021a) |
initcvekf | Create constant-velocity extended Kalman filter from detection report (Since R2021a) |
initcvkf | Create constant-velocity linear Kalman filter from detection report (Since R2021a) |
initcvukf | Create constant-velocity unscented Kalman filter from detection report (Since R2021a) |
Tracking Filters
trackingABF | Alpha-beta filter for object tracking (Since R2021a) |
trackingEKF | Extended Kalman filter for object tracking (Since R2021a) |
trackingKF | Linear Kalman filter for object tracking (Since R2021a) |
trackingUKF | Unscented Kalman filter for object tracking (Since R2021a) |
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.
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