Page 74 - Dynamic Vision for Perception and Control of Motion

58 2 Basic Relations: Image Sequences – “the World”

be removed from the list of variables to be updated. It has to be taken as a standard
case, in general in vision, that only a selection of parameters and variables describ-
ing another object are observable at one time with the given aspect conditions.
There has to be a management process in the object recognition and tracking pro-
cedures, which takes care of these particular properties of visual mapping (see later
section on system integration).
If this information in properly set up Jacobian matrices is observed during track-
ing, much of the deplored brittleness of Kalman filtering should be gone.