Stereo-Vision-Based Moving Object Tracking via Robust Linear Filtering

Vision-based tracking sensors typically provide nonlinear measurements of the targets Cartesian position and velocity state components. In this paper we derive linear measurements using an analytical measurement conversion technique which can be used with two (or more) vision sensors. We derive linear measurements in the target's Cartesian position and velocity components and we derive a robust version of a linear Kalman filter. We show that our linear robust filter significantly outperforms the extended Kalman Filter. Moreover, we prove that the state estimation error is bounded.