initcvabf

Create constant velocity tracking alpha-beta filter from detection report

Since R2018b

Syntax

``abf = initcvabf(detection)``

Description

example

````abf = initcvabf(detection)` initializes a constant velocity alpha-beta filter for object tracking based on information provided in `detection`. The function initializes a constant velocity state with the same convention as `constvel` and `cvmeas`, [x vx y vy z vz].```

Examples

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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]);`

Use `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 `Detection.MeasurementNoise` values.

`ABF.State`
```ans = 4×1 1 0 3 0 ```
`ABF.MeasurementNoise`
```ans = 2×2 1.0000 0.2000 0.2000 2.0000 ```

Input Arguments

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Detection report, specified as an `objectDetection` object.

Example: `detection = objectDetection(0,[1;4.5;3],'MeasurementNoise', [1.0 0 0; 0 2.0 0; 0 0 1.5])`

Output Arguments

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Constant velocity alpha-beta tracking filter for object tracking, returned as a `trackingABF` object.

Algorithms

• The function computes the process noise matrix assuming a unit acceleration standard deviation.

• You can use this function as the `FilterInitializationFcn` property of trackers.

Version History

Introduced in R2018b