Matlab车辆/汽车追踪/卡尔曼滤波器/降噪

Question

我面临以下挑战。我在帧数上绘制了基于摄像机的车辆距离测量。如您在图片中所见（y =距离，x =帧），噪声会导致测量误差。被测车辆理论上可以加速或持续行驶。在这种情况下，它会持续驱动。

有人知道如何在测量过程中减少噪声吗？噪声分布对应于距离几乎是恒定的。我目前正在尝试在Matlab中使用Kalman滤波器找到解决方案。

https://de.mathworks.com/help/vision/ref/vision.kalmanfilter.html https://de.mathworks.com/help/vision/ref/configurekalmanfilter.html

卡尔曼方法如下：

... % DistObj = Distance values from meausurement 

if count < 6
    HoldD(count) = {DistObj};  
        count = count +1; 
else
    HoldD(1) = []; 
    HoldD(end+1) = {DistObj}; 
end 

kalman = [];
for idx = 1: length(HoldD)
   location = HoldD{idx};
   if isempty(kalman)
     if ~isempty(location)
       stateModel = [1 1;0 1];
       measurementModel = [1 0];
       kalman = vision.KalmanFilter(stateModel,measurementModel,'ProcessNoise',2,'MeasurementNoise',16); %1e-4
       kalman.State = [location, 0];
     end
   else
     trackedLocation = predict(kalman);
     if ~isempty(location)
       d = distance(kalman,location);
       trackedLocation = correct(kalman,location);
     else
       print('Missing detection');
     end

    plot(fr,trackedLocation,'co');
    hold on 
%     plot(fr,DistObj,'ko');
%     hold on 

    xlim([-1 nFrames])
    ylim([0 70])

   end
 end

有人可以帮我吗？