Skip to content

Estimation — camera interceptor

Draft

This tutorial is scaffolded. It narrates examples/vehicles/interceptor.py, which is complete and runnable today.

A controllable interceptor tracks a maneuvering target using a camera's bearing measurements, fused in a joint cross-craft EKF.

To cover

  • Two crafts in one world; a camera observing the target craft.
  • How bbox/centroid measurement noise becomes a joint filter block across both crafts.
  • The adaptive substep and the lean EKF used in the fast regime.
  • Closing the intercept with proportional navigation / LQR.
  • Recording to .rrd for Rerun visualization.

Run it

python -m examples.vehicles.interceptor

Source material