Table 4 Computational complexity of KF-based and FOSB-based tracking schemes
From: A reduced-complexity scheme using message passing for location tracking
Tracking Algorithms | Number of Multiplications and Division | Number of Additions and Subtractions | Inverse Operation | Transpose Operations |
|---|---|---|---|---|
KF (X, Y) | S(3S2+3SP+2P2) ⇒ 320 | 3S3+S2(3P-2)+S(2P2-3P)+P ⇒ 266 | [ ]P × P ⇒ [ ]2 × 2 | [ ]S × S, [ ]S × P ⇒ [ ]4 × 4, [ ]4 × 2 |
KF decoupling (X, Y) | 40 × 2 = 80 | 27 × 2 = 54 | / | 2:[ ]S × S, 2:[ ]S × P ⇒ 2:[ ]2 × 2, 2:[ ]2 × 1 |
KF decoupling (X, Y) | 13 × 2 = 26 (0 or 1 eliminated) | 16 × 2 = 32 (0 eliminated) | / | / |
FOSB (X, Y) | 15 × 2 = 30 | 9 × 2 = 18 | / | / |