Fig. 3From: A Bayesian robust Kalman smoothing framework for state-space models with uncertain noise statisticsPerformance analysis of different smoothers for the target tracking example over the observation window. a MSE of different smoothers for θ=0.5. b MSE of different smoothers for θ=4. c MSE of different smoothers and filters for θ=0.5. d MSE of different smoothers and filters for θ=4Back to article page