Fig. 2
From: On the performance of parallelisation schemes for particle filtering
Empirical mean of the MSE versus the running time for the centralised BF and the independent ensemble of BFs. The parallel scheme is run with M = 20 constant and N = 100,200,400,600,800 and 1000. The centralised BF is run with K = 20N particles, where N takes values in the same way as for the parallel algorithm. The dashed horizontal lines indicate where the mean of the MSE match for the independent ensemble and the centralised BF. The running times for the two algorithms at that MSE level are shown as labels on the horizontal axis