Table 2.

Positions estimated by different estimation methods are compared with the position estimated by the multi-camera vision system.

	Proposed EKF		EKF (Switch)		EKF (Continuous)
Cameras Measurement Rate	Error (RMS)	Variance	Error (RMS)	Variance	Error (RMS)	Variance
16 fps	0.9854	0.1779	1.0076	0.7851	0.4320	0.1386
10 fps	1.0883	0.3197	1.2147	0.8343	0.5658	0.2149
5 fps	1.4730	1.5173	1.3278	0.8755	0.7257	0.8025