computer vision - the measurement matrix 's jacobi to velocity should be zero ? -


as state [x v] , x current state , , v state velocity ,

in transition matrix x(k) = x(k-1) + v(k-1)

but in update step , observe has no relationship velocity ,like observe = f(x, else) , f observe function , question measurement jacobi matrix should have ∂f/∂v , should 0 , or ∂f/∂v = ∂f(x+v)/∂(v) ?


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