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Variable dimensionality Kalman filter

asked 2015-02-04 10:17:11 -0500

johnla gravatar image

Is it possible to change the dimensionality of the measurement matrix dynamically with the OpenCV Kalam filter. For example as more features are observed in a scene I want to add these to the Kalman filter to be predicted along with the previously observed features.

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answered 2015-02-04 11:47:04 -0500

It's possible but your covariance matrix will get huge and the inversions will kill your running time. There are some approaches (e.g. fastslam (2.0) from Thrun) that try to deal with that problem.

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Thanks, would the approach to re-sizing the Kalman filter in OpenCV be accessing the internal matrices and re-sizing them there?

johnla gravatar imagejohnla ( 2015-02-04 19:35:45 -0500 )edit
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Asked: 2015-02-04 10:17:11 -0500

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Last updated: Feb 04 '15