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Linear Kalman Filters

In "Introductory Techniques for 3-D Computer Vision" Trucco and Verri state that "over a large number of experiments, the Kalman filter's estimates would be better, on average, than those of any other filter." Since the Kalman filter is one of the best tools for the job, we will be using it for this project. A Kalman filter is essentially a set of recursive equations that when used together can help to model, and very accurately estimate, the movement of a dynamic system.

A Kalman filter uses a vector called the state vector, usually referred to as the state, which contains the system variables. These variables are time dependent and can be used to extrapolate the dynamic properites of a system. Kalman filters also use a vector named the measurement vector which holds "noisy" measurements of the state vector taken at some time t. The measurement vector is considered to be "noisy" because each time a measurement is taken a very small random number (often as small as 1 x 10e-5) is added to it to account for the uncertainty involved in the calculations. The addition of this random number helps to increase the accuracy of predictions made about the state of the system.

If, for example, the system model consisted of a 6 component vector in which the first two values represented the x and y coordinates, the next pair represented the velocities, and the last pair represented the accelerations, then the measurement vector might be a 4 component vector in which the first pair of values represents the x and y velocities and the second pair the accelerations, all respectively. At each time interval measurements of the systems velocities and accelerations are taken and from those measurements the system model is updated. Provided that the object being tracked is moving in a semi-linear fashion and follows the basic laws of physics, the kalman filter will be able to accurately predict the trajectory of the system.


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