Object tracking with an Iterative Extended Kalman Filter (IEKF)

This is my Matlab implementation of Ted Broida's "Estimation of Object Motion
Parameters from Noisy Images." This is a very early work using Kalman Filtering to perform object tracking. The paper makes many assumptions such as the structure is known and we are given a 1D view of a 2D object, but it paved the way for future methods.
From the perspective of a new person to adaptive filtering, I believe this creates a perfect example problem to apply an IEKF because it is simple and you can concentrate on how the algorithm works. Plus the inputs to the filter have a physical meaning.

The best way to start will be by reading the .pdf file. This is the write up I did for this project and hopefully should explain how it works clearly.

Then next thing will be to simply run "CompleteSimulation.m" I tried to make the code very readable so hopefully you can just read the script.

The largest reason for submitting this to the file exchange is "f_IEKF.m" This is the function that actually implements the filter and took several days of headache to write. It isn't commented line by line, but I choose the variables to be consistent with the theory sections seen in most books. I hope it will be clear and help someone out there.

Video:
https://www.youtube.com/watch?v=5LAq0dq6baI