Table 1.
RMSE of the target position, orientation and intersection-over-union (IOU) with respect to different tracking algorithms. The numbers are averaged over 100 MC runs.
| Trajectory | S1 |
S2 |
S3 |
||||||
|---|---|---|---|---|---|---|---|---|---|
| Method | GPR-EKF | GPR-UKF | GPR-AUKF | GPR-EKF | GPR-UKF | GPR-AUKF | GPR-EKF | GPR-UKF | GPR-AUKF |
| Center(m) | 1.1056 | 0.7441 | 0.7039 | 1.1945 | 0.8970 | 0.7052 | 1.9486 | 1.4625 | 1.1868 |
| IOU | 0.6137 | 0.6681 | 0.6670 | 0.5965 | 0.6359 | 0.6432 | 0.5399 | 0.5802 | 0.6178 |
| Orientation(rad) | 0.2357 | 0.2138 | 0.2110 | 0.2442 | 0.2239 | 0.2183 | 0.2585 | 0.2179 | 0.1746 |