Initialisation of kalman parameters

[abhiagwl4262]

Can you guide me about, which parameter should be tracked? And how do tune the measurement and process noise for this type of application. Here I am getting detection from some detection model like SSD and tracking those detections. I am considering 20 FPS and getting detections at each frame(i.e. I am getting measurements at each frame).

I am doing for FCW system where I am getting different objects like car, truck, person, bicycle, motorbikes etc