Have Geek Brain

O'Reilly refining a book on a 2D linear system

Oreilly's book, Learning OpenCV, states on page 356:

Quote

Before we get completely lost, consider a specific realistic measurement situation on a car driving in a parking lot. We can imagine that the state of the car can be summed up by two position variables x and y and two speeds vx and vy. These four variables would be the elements of the state vector xk. Th assumes that the correct form for F is:

x = [ x; 
      y;
      vx;
      vy; ]k

F = [ 1, 0, dt, 0;  
      0, 1, 0,  dt;
      0, 0, 1,  0;
      0, 0, 0,  1; ]

It seems natural to only put 'dt' in matrix F, but I just don't understand why. What if I have an n state system, how would I spray some "dt" in the matrix F?

+2


a source to share


1 answer


dt

- speed ratios with corresponding provisions. If you write your state update after the time has expired dt

:

x(t+dt) = x(t) + dt * vx(t)
y(t+dt) = y(t) + dt * vy(t)
vx(t+dt) = vx(t)
vy(t+dt) = vy(t)


You can easily read F

from these equations.

+3


a source






More articles:


All Articles