Monocular Vision-Based Robot Localization and Target Tracking

Figure 11

The size of the posterior estimate error covariance 𝐂𝐨𝐯(𝐗_𝑘) increases with the number of the targets. The size of the system covariance is modified from a 13 × 13 matrix to a 19 × 19 matrix while the robot senses one target in the process state vector.