Figure 13
From: Pedestrian tracking with an infrared sensor using road network information
The RMSE position errors of the MC simulation. Five different filters are considered: one PF with a single off-road model, two MMPFs and two IMMPFs with transition probabilities Π1 and Π2, respectively. The MMPF results are compared to the off-road PF filter on the left and the IMMPF filters results are compared to the off-road PF filter on the right. The results of the MMPF and IMMPF are very similar.