How to initialize Kalman filter in GNN tracker

Hi,

I am using trackerGNN function for track association.

tracker = trackerGNN('FilterInitializationFcn', @initcvkf, ...

'ConfirmationThreshold', [4 5],... %'ConfirmationThreshold', 20,...%[4,5]

'DeletionThreshold', 10);

Kalman filter is initialised as the constant velocity Kalman filter. How can I initialise its measurement noise and process noise in the GNN tracker as in the case of the function configureKalmanFilter

kalmanFilter = configureKalmanFilter('ConstantVelocity', centroid, [5, 2], [100, 25], 3);

Thanks

Nisha

Answer 1

[Shivam Singh]

Hello Nisha,

It is my understanding that you want to initialize measurement noise and process noise for constant velocity Kalman Filter in the GNN tracker.

This can be done by writing your own initialization function in “trackerGNN” function. You may refer the following link for reference: “FilterInitializationFcn” Name-Value pair of trackerGNN function

To guide you in writing the above function, you may take help provided in the below mentioned command:

type initcvkf 

[Nisha Varghese]

Thanks.