Abstract
We are developing a target tracking system which is made of two parts. The first one is a picture processing device for the location of an object in a scene, the second one is a filter giving the motion parameters of this object. This paper deals with the strategy chosen for this second part. We took the Kalman formalism; the data is the location of the object and the results are its filtered location and velocity. We know that in some cases (fast variation of the velocity or of the direction) this kind of algorithm produces divergences. These are the reasons why we propose an “adaptative” Kalman filter with variable parameters accorded to error of estimation. We describe this filter and we compare the experimental results obtained with and without adaptativity, this for different kinds of trajectory
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