Only position data is obtained from Leap Motion devices. This data was already processed to be on the same coordinate axis by means of a homogeneous transformation.
I'm reviewing WTF is Sensor Fusion? The good old Kalman filter, but it considers speed and acceleration, data that I don't need and my doubt arises if they are all necessary to implement the Kalman filter, as I just need to get the correct estimate of the position between the Leap devices.
I would appreciate a response that clarifies the implementation of these matrices for this case.