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Table 1 Average performing time (s) of a Monte Carlo run for different detection probabilities

From: Sequential measurement-driven multi-target Bayesian filter

pD,k 1.0 0.95 0.9 0.85 0.8 0.75 0.7 0.65
SMB filter 23.21 22.44 22.02 21.73 21.36 20.88 20.35 19.75
PHD-M filter 1.84 2.46 3.09 4.09 4.29 4.98 6.25 6.50
CPHD-M filter 28.13 29.39 29.75 29.87 29.07 28.71 28.27 27.91