title: Denoising an Image Using Kalman Filter
body: <p>I am trying to denoise a image using a kalman filter.
  I am not taking any control parameters[B], hence it is a zero matrix. 
  So my question is , <strong>What should be the process noise [Qt] and measurement noise[Rt].</strong>
  Since I am taking my control parameter as zero. Should my process noise [Qt] also be zero.</p>
  
  <p>And on what basis i should choose the magnitude of measurement noise [Rt].</p>