Figure 6

The two bar graphs shown are the magnified graphs for the region when the action is repeated to a large extent. The first bar graph shows the error in prediction of the angular position of the man when he is tracked by the CMKF. The bar graph on the right shows the error predicted when the man is tracked by only the KF. We can see that the error is much lower in the CMKF during the time when the man tends to be repetitive in its motion.