Table 4 Influence of the number of particles on the estimation accuracy and computational speed
Number of particles | 50 | 100 | 200 | 300 | 400 |
|---|---|---|---|---|---|
Real-time factor | 0.18 | 0.33 | 0.64 | 0.94 | 1.25 |
Precision (%) | 57.7 | 59.7 | 61.4 | 62.2 | 62.5 |
Recall (%) | 57.0 | 59.5 | 61.4 | 62.4 | 62.9 |
F-measure (%) | 57.3 | 59.6 | 61.4 | 62.3 | 62.7 |