Bayes Estimator

Universidad Autónoma de Yucatán Facultad de Matemáticas

Teacher: Dr. Arturo Espinosa Romero <eromero@correo.uady.mx>

Student: Ing. Dayan Bravo Fraga <dayan3847@gmail.com>

Ball Tracking Kalman Filter

Legend

• Blue: **Measurement with findContours and RANSAC
• Green: Correction with Kalman Filter

Environments

• Tennis ball: ball_tennis (default)
• Orange ball: ball_orange
• Red ball: ball_red
• Green ball: ball_green (in legend)

Kalman Filter Types

• Extended_6x5 Kalman Filter: 0 (default)
• Implicit Extended_6x5 Kalman Filter: 1

Installation

This project depends on the following library:

Circle: (by Arturo Espinosa)

• https://github.com/arturoemx/Circle

Clone

git clone https://github.com/arturoemx/Circle lib/arturoemx/Circle

Note:

Last commit: 1b3e61fd0203164265b804276546465898eaa3b7

Install with CMake

Requirements (Ubuntu 20.04)

CMake

sudo apt install cmake -y

Check:

cmake --version

Ninja Build

sudo apt install ninja-build -y

You can see: https://lindevs.com/install-ninja-build-system-on-ubuntu/

Check:

ninja --version

Reload CMake Project

cmake -DCMAKE_BUILD_TYPE=Debug -DCMAKE_MAKE_PROGRAM=ninja -G Ninja -S ./ -B ./cmake-build-debug

Build

cmake --build ./cmake-build-debug --target KalmanFilterBallTracking -j 6

Install with Make (by Arturo Espinosa)

make

You can see: Makefile

Run

./KalmanFilterBallTracking [ENVIRONMENT] [KALMAN_FILTER_TYPE];

Examples:

Tennis ball with Implicit Extended_6x5 Kalman Filter:

./cmake-build-debug/KalmanFilterBallTracking ball_tennis 1;

Orange ball with Extended_6x5 Kalman Filter:

./cmake-build-debug/KalmanFilterBallTracking ball_orange 0;

Analysis and Matrices

Derivatives Analysis

• Position
• Radium

Matrices

• Extended_6x5 Kalman Filter
• Implicit Extended_6x5 Kalman Filter

Colaborators

• Arturo Espinosa
• Dayan Bravo
• Mario Herrera