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 |