Fig. 1
From: On the performance of parallelisation schemes for particle filtering
Empirical mean of the MSE for the centralised BF, with K = MN particles, and the ensemble of NIBFs, with M = 20 constant and N = 100,200,400,800,1000. All curves have been obtained from a set of 100 independent simulation trials. Note that the centralised BF is run with K = 20N particles, where N takes values in the same way as for the parallel algorithm