title: Custom motion estimation model for Kalman filter in MATLAB
body: <p>I have been trying to apply the <code>multiObjectTracking()</code> function from <a href="http://uk.mathworks.com/help/vision/examples/motion-based-multiple-object-tracking.html" rel="nofollow">this example</a> to some videos of insect motion on a 2D surface. </p>
  
  <p>In the linked example, a Kalman filter is used for estimating the motion of tracked objects if they are lost for a few frames due to foreground occlusion. The filter is set up using the <code>configureKalmanFilter()</code> method using the 'Constant Velocity' model for motion estimation. Alternatively it can be called with the 'Constant Acceleration' model. </p>
  
  <p>My question is how would I set up a custom model for motion estimation in my Kalman filter?</p>
  
  <p>The primary cause of lost tracks in my footage is when an animal stops for several frames then begins walking again, possibly in a different direction. Therefore i would like to implement a 'No Velocity' model (so to speak) that assumes the lost object has simply remained in its last known location until it is picked up again.</p>