Models

https://medium.com/@jonathan_hui/self-driving-object-tracking-intuition-and-the-math-behind-kalman-filter-657d11dd0a90

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3.

4. Motion models (MM)

http://ais.informatik.uni-freiburg.de/teaching/ws11/robotics2/pdfs/rob2-19-tracking.pdf

4.1 Brownian MM

No-motion assumption

• Useful to describe stop-and-go motion behavior

4.2 Constant velocity MM

Constant target velocity assumption

• Useful to model smooth target motion

4.3 Constant acceleration MM

Constant target acceleration assumed

• Useful to model target motion that is smooth in position and velocity changes

4.4 Constant turn MM

4.5 Specialized models (problem-related, e.g. ship models)