Create an objectDetection with a position measurement at x=1, y=3 and a measurement noise of [1 0.2; 0.2 2];

detection = objectDetection(0,[1;3],'MeasurementNoise',[1 0.2;0.2 2]);

Use initccabf to create a trackingABF filter initialized at the provided position and using the measurement noise defined above.

ABF = initcaabf(detection);

Check the values of the state and measurement noise. Verify that the filter state, ABF.State, has the same position components as the Detection.Measurement. Verify that the filter measurement noise, ABF.MeasurementNoise, is the same as the Detection.MeasurementNoise values.

ABF.State

ans = 6×1

     1
     0
     0
     3
     0
     0

ABF.MeasurementNoise

ans = 2×2

    1.0000    0.2000
    0.2000    2.0000