From: Human tracking with an infrared camera using a curve matching framework
 | Duration of the tracking correctness within 3-sigma bound (%) | Standard deviation of the tracking error under different condition | Bias for residual error during the stable periods | |||||
---|---|---|---|---|---|---|---|---|
 |  | Ground proof | Noisy |  | ||||
 |  | Fast | Med | Slow | Fast | Med | Slow |  |
CMKF | 32 | 0.07 | 0.08 | 0.08 | 0.07 | 0.08 | 0.08 | 0.02 |
Arbitrate OFKF | 3.5 | 239.36 | 1.77 | 1.83 | 2.50 | 2.51 | 5.56 | 0.41 |
Particle filter | 3.02 | 0.82 | 0.42 | 0.31 | 1.10 | 1.25 | 0.52 | 0.45 |
Optical flow | 5.01 | 7.58 | 0.76 | 0.60 | 0.63 | 0.36 | 0.74 | 1.76 |