Multiple-Model Cardinality Balanced Multitarget Multi-Bernoulli Filter for Tracking Maneuvering Targets

Table 3

Time-averaged OSPA distance (𝑚) in various 𝜆_𝑐,𝑘.

	𝜆𝑐,𝑘=20	𝜆𝑐,𝑘=40	𝜆𝑐,𝑘=60	𝜆𝑐,𝑘=80	𝜆𝑐,𝑘=100
GM-MM-PHD filter	22.8	28.2	34.5	40.9	47.1
GM-MM-CPHD filter	20.0	24.8	30.3	36.1	41.9
GM-MM-CBMeMBer filter	22.6	27.7	34.1	40.6	46.7