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kalman_filter_vision.h File Reference
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Functions

void kalman_filter_linear_2D_float (float *model, float *measurements, float *covariance, float *state, float *process_noise, float *measurement_noise)
 A simple linear 2D kalman filter, computed using floats and matrices. More...
 

Function Documentation

void kalman_filter_linear_2D_float ( float *  model,
float *  measurements,
float *  covariance,
float *  state,
float *  process_noise,
float *  measurement_noise 
)

A simple linear 2D kalman filter, computed using floats and matrices.

To be used for vision task like optical flow, tracking markers etc.

Parameters
[in]*modelThe process model for the prediction of the next state (array size of [1 x 4])
[in]*measurementsValues of the measurements (array size of [1 x 2])
[in]*covarianceCovariance matrix of previous iteration (array size of [1 x 4])
[out]*covarianceUpdated Covariance matrix (array size of [1 x 4])
[in]*statePrevious state vector with estimates(array size of [1 x 2])
[out]*stateUpdated state vector with estimates
[in]*measurement_noiseExpected variance of the noise of the measurements
[in]*process_noiseExpected variance of the noise of the process model

Definition at line 26 of file kalman_filter_vision.c.

References float_mat_copy(), float_mat_diff(), float_mat_mul(), float_mat_sum(), float_mat_transpose(), H, MAKE_MATRIX_PTR, Q, and mesonh.mesonh_atmosphere::Z.

Referenced by kalman_filter_opticflow_velocity().

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