# Kalman filter for tracking obstacles

I'm developing a Computer Vision project in Matlab as an aid to visually impaired people. The setup would be a stereo pair of cameras which the blind person would carry. Using this stereo information, I generate a disparity image using Semi-Global Block Matching (SGBM). After that, I process a "virtual disparity", which basically is a homogeneous transformation, to pass the image plane to the ground, resulting in an image like the following:

Now, After removing the ground plane, morphologically improve the image, and threshold it to keep only near obstacles, I get a foreground mask with the approximate shape of the objects.

I was thinking on tracking each one of the obstacles to improve the detection. Considering that the camera is not fixed since the blind person carrying it is moving, I wonder if the relative movement of all the obstacles in the image would be easily followed by a Kalman filter, or it would be better a feature-based tracker like Kanade–Lucas–Tomasi feature tracker (KLT).

• Thank you. in the case of blob detection, you would be detecting "areas of interest" via some features. For example, roughly rectangular blobs at least $k$ units tall and $m$ units wide. If you were to try to detect objects via their shape, then yes, that would fail if their appearance changed. Happy to ammend the response if more data becomes available.