Figure 4From: Binomial Gaussian mixture filterEffect of parameters on posterior approximation. Green dots are located at posterior component means, and red lines show where the measurement likelihood is highest. In subfigure captions, η limit is the nonlinearity threshold for each component, ·× is the number of components compared to proposed, m is the total number of components, and KL is the Kullback-Leibler divergence of the GM posterior approximation with respect to the true posterior.Back to article page