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Table 2 Number of measurement function evaluations

From: Binomial Gaussian mixture filter

Method

Evaluations

Order

H&C

(m+1)(2n−1)

\(\mathcal {O}(mn)\)

F&K

\( \frac {(m + 1)}{2}(2n+1)\)

\(\mathcal {O}mn)\)

S&M

(2m−1)(2n−1)

\(\mathcal {O}(mn)\)

BGMF

m(2n+1)

\(\mathcal {O}(mn)\)

AS

(m−1)(n 2+n)+2n+1

\(\mathcal {O}(mn^{2})\)

BinoGMF

\( \frac {n^{2} +n}{2}+ m(2n+1) \)

\(\mathcal {O}(n^{2} + mn)\)