Gating Techniques for Rao-Blackwellized Monte Carlo Data Association Filter

Table 4

Computational time (sec) using different numbers of particles.

Numbers of particles	20	40	60	80	100
O-	12.1373	18.2593	25.3149	31.7860	38.4171
U-	1.1085	2.2064	3.3344	4.4614	5.6046
J-	1.2446	2.5641	4.0014	5.3252	6.5214
SJ-	1.1248	2.3910	3.6465	4.8110	5.8696