Figure 10
From: Human tracking with an infrared camera using a curve matching framework
Comparison of time taken for CMKF, KF, arbitrate OFKF, particle filter, and optical flow to work. The camera used has a frame rate of 15 frames/s and the difference in time taken by the algorithms to track is of the order of 10-4 s. Thus, it is not expected to slow down the robot when it is tracking the human being.