Table 2.

OSPA error and computing time for different filters ($\lambda$ = 50, $P_{D,k}$ = 0.98).

Filter	Standard PHD	TM-PHD	TM-Joint-GLMB	FAP-PHD
OSPA error (m)	33.3810	26.9609	16.2156	11.0570
Computing time (s)	0.0053	0.0227	0.0943	0.0076

Significant values are in bold.