Reliable and Efficient Approach of BOLD Signal with Dual Kalman Filtering

Table 2

The fact that joint filtering requires half of the iterations that are required by dual filtering has been taken into account.

Algorithm	Dimension of state vector	Total flops
Joint UKF	𝐿=𝐿𝑥+𝐿𝑤=9	285
Dual UKF	𝐿𝑥=4,𝐿𝑤=5	170