Table 2.

Comparison of filter performance for various filtering methods.

	Time Complexity	Storage Requirement	Time/frame (s)
SW	O(N)	N*M	8.41 ($\pm$ 9.54) x 10−5
$\alpha$	O(N)	N*M + 3	6.83 ($\pm$2.26) x 10−4
$\alpha \beta$	O(N)	2*N*M + 3	1.3 ($\pm$ 0.42) x 10−−3
Kalman	O(N3M3)	4N2M2 + N2M + 2N2 +NM+2N	Not tested