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opencvkalman-filter

Kalman filter 3D implementation

I want to implement the kalman filter for a moving object in r3 (X,Y,Z-coordinate) in OpenCV. I tried to understand the OpenCV documentation but this is really not helpful and very rare.

The syntax for the initialization is:

KalmanFilter::KalmanFilter ( int dynamParams, int measureParams, int controlParams = 0, int type = CV_32F )

In my case, is dynamParams = 9 and measureParams=3?

And what is the transitionMatrix in my case?

Solution

  • I found out, that for the 3D-Case often the position, velocity and acceleration is used. That means, that for the OpenCV implementation dynamParams=9 and measureParams=3 is right.