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The research reported here addresses the problem of detecting and tracking independently moving objects from a moving observer in real time, using corners as object tokens. Local image-plane constraints are employed to solve the correspondence problem removing the need for a 3D motion model. The approach relaxes the restriciive static-world assumption(More)
It is traditional to initialise Kalman filters and extended Kalman filters with estimates of the states calculated directly from the observed (raw) noisy inputs7, 9, 10 but unfortunately their performance is extremely sensitive to state initialisation accuracy (Figure 1). Good initial state estimates ensure fast convergence whereas poor estimates may give(More)
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