Measurement residual and residual noise
[zRes,resCovariance] = residual(filterObj,zMeas)
[zRes,resCovariance] = residual(filterObj,zMeas,measurementParams)
filterObj— Filter for object tracking
Filter for object tracking, specified as an object. Calling the
predict overwrites the internal states of the object.
zMeas— Measurement of filter
Measurement of the tracked object, specified as a vector or matrix.
measurementParams— Parameters for measurement function
Parameters for measurement function, specified as a cell array. The parameters are
passed to the measurement function defined in the
property of the
zRes— Residual between current and predicted measurement
Residual between current and predicted measurement, returned as a matrix.
resCovariance— Residual covariance
Residual covariance, returned as a matrix.