Figure 5.
The convergence performance of the UNLS method and the three versions of AIS methods using the synthetic data. Each row displays the results of ADC and AKC calculated from one particular method (from top to bottom: UNLS, UAIS, CAIS and SCAIS, respectively). The result showed that all our AIS method converged more quickly than did the UNLS method. Note these comparisons compared purely the number of iterations without considering the huge saving of time in each iteration that our methods cost over that of the UNLS method.