Visual vehicle tracking using an improved ekf
Jian–Guang Lou, Hao Yang, Weiming Hu, Tieniu Tan · 2002
In this paper, a dynamic model of car motion is proposed in which the turn of the steering wheel and the distance between the front and rear wheel are taken into account. Extended Kalman Filter (EKF) is widely used in visual tracking systems. However, because there is no direct link between the behaviour of the driver who controls the motion of the car and the assumed dynamic model, the traditional EKF does not perform well when the car carries out a complicated manoeuvre. In order to reduce the sensitivity of the filter to the model uncertainty, we use a modified EKF by adding a new objective function. Experimental results show that the performance of our approach is much better than the traditional EKF and its recent variant. 1.