title: Tracking position and velocity using a kalman filter
body: <p>I am using a kalman filter (constant velocity model) to track postion and velocity of an object. I measure x,y of the object and track x,y,vx,vy . Which works but if a add gausian noise of +- 20 mm to the sensor readings x,y,vx,vy fluctuates even though the point is not moving just noise. For location that is good enough for my needs but velocity changes when the point is stationary and that is causing problems with my object speed calculations. Is there a way around this problem? also if switching to constant acceleration model improve on this? I am tracking a robot via a camera.</p>
  
  <p>I am using opencv implementation and my kalman model is same as [1]</p>
  
  <p>[1] <a href="http://www.morethantechnical.com/2011/06/17/simple-kalman-filter-for-tracking-using-opencv-2-2-w-code/" rel="noreferrer">http://www.morethantechnical.com/2011/06/17/simple-kalman-filter-for-tracking-using-opencv-2-2-w-code/</a></p>