During the process of state estimation, recursive extended least square was introduced to update the parameters of state model, at the same time exponential weighted algorithm was put in use to estimate the statistical characteristic of time-varying noise. 这样,在利用量测数据进行状态估计的同时,来不断的对系统模型参数和噪声统计特性进行估计和修正以提高模型精确度,降低状态估计的误差。
In theory, a temporal recursive low pass filter model is developed and used to update the background dynamically based on multi-frames moving weighted averaging and motion detecting. Actually, several proposals lie in the derivation of the parameter k in the model. 采用了多帧运动加权平均理论及运动检测理论建立了时域递归低通滤波算法模型,并将该模型应用于缓慢变化的背景预测。