Gating Techniques for Rao-Blackwellized Monte Carlo Data Association Filter

Table 5

Computational time (sec) in different clutter rates.

Clutter rates (𝜆)	20	40	60	80	100
O-	12.0975	17.5701	22.9209	28.4144	34.0663
U-	1.0522	1.1306	1.2546	1.3155	1.3967
J-	1.1965	1.2832	1.4081	1.4914	1.6091
SJ-	1.0925	1.2024	1.3330	1.4350	1.5127