Table 2.

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	Low measurement noise			High measurement noise
Method	GPR-EKF	GPR-UKF	GPR-AUKF	GPR-EKF	GPR-UKF	GPR-AUKF
Center(m)	1.7368	1.1711	0.9106	2.1166	1.6226	1.2640
IOU	0.6156	0.6820	0.7282	0.5098	0.5549	0.6133
Orientation(rad)	0.2265	0.1995	0.1721	0.2159	0.2048	0.1730