The average computation time of the five particle-filter-based algorithms with different numbers of particles. (Unit: Ms, PF: Particle filter)
| Particle number | PF with IMU | PF with Approach 1 | PF with Approach 2 | Standard PF | RBPF |
|---|---|---|---|---|---|
| 50 | 8.1 | 6.3 | 7.8 | 7.4 | 6.5 |
| 100 | 16.9 | 12.5 | 15.4 | 14.8 | 14.8 |
| 200 | 34.8 | 26.1 | 32.1 | 30.7 | 30.9 |
| 500 | 69.5 | 59.7 | 66.5 | 64.2 | 63.8 |
| 1000 | 130.6 | 116.4 | 127.5 | 123.4 | 119.7 |
| 2000 | 247.8 | 234.3 | 246.2 | 239.3 | 236.6 |
| 5000 | 589.8 | 561.1 | 586.7 | 575.2 | 569.6 |
| 10000 | 1158.7 | 1126.5 | 1149.6 | 1137.4 | 1130.9 |
| 20000 | 2310.5 | 2294.8 | 2304.6 | 2300.2 | 2298.7 |