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Let's assume we have series of frames with a known object. I want to track the object using Kalman filter using constant velocity / acceleration models. My questions are:

(i) Which model to use? CV or CA? (ii) If I use CV, how to calculate velocity of object? and what is the unit of velocity? pixels/sec or m/s? (iii) If I use CA, how do we evaluate velocity and acceleration of the object? (iv) If object moves closer to camera, it drastically shifts in both x and y pixels. How do we accommodate this change? CV and CA models fail.

Please help..

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  • $\begingroup$ You probably need to combine it with computer vision. If applying computer vision to the entire frame is too expensive you might be able to use the prediction step of the Kalman filter as the first guess for the computer vision. $\endgroup$ – fibonatic Jul 10 at 9:46
  • $\begingroup$ What's your motion model ? Do you use 3D world coordinates or 2D projection coordinates ? $\endgroup$ – Fat32 Jul 11 at 14:59

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