Convergence of the Ekf in Mark-based Vision for 3d Vehicle Tracking
نویسندگان
چکیده
In this paper, the extended Kalman filtering (EKF) technique is considered for 3-dimensional tracking of vehicle movement using a fixed camera that provides vehicle images showing several marks, easily detectable, fixed to the vehicle body. The algorithm will be implemented in a minihelicopter hover-stabilization application. For this problem, we present results on the convergence and the domain of attraction of the non-linear observation scheme as a function of the tuning filter parameters: the initial value of the covariance and the robustifying parameter α. Copyright © 2005 IFAC
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