|  | True positives # |  |  | False positives # |  |  | True negatives # |  |  | False negatives # |  |
---|---|---|---|---|---|---|---|---|---|---|---|---|
Filters | Min | Max | Avg | Min | Max | Avg | Min | Max | Avg | Min | Max | Avg |
EKF | 2 | 17 | 10.60 | 23 | 44 | 36.4 | 2 | 15 | 7.08 | 2 | 24 | 9.92 |
UKF | 25 | 29 | 26.80 | 16 | 26 | 19.28 | 8 | 16 | 13.06 | 2 | 8 | 4.86 |
CKF3 | 25 | 30 | 26.74 | 16 | 26 | 19.10 | 8 | 15 | 13.14 | 2 | 8 | 5.02 |
CKF5 | 25 | 29 | 26.64 | 16 | 26 | 19.24 | 8 | 16 | 13.08 | 1 | 8 | 5.04 |
 | True positive rate | False positive rate | Positive predictive rate | |||||||||
Filters | Min | Max | Avg | Min | Max | Avg | Min | Max | Avg | |||
EKF | 0.0769 | 0.8667 | 0.5224 | 0.6053 | 0.9545 | 0.8358 | 0.0800 | 0.3208 | 0.2231 | |||
UKF | 0.7576 | 0.9355 | 0.8472 | 0.5 | 0.7576 | 0.5955 | 0.5094 | 0.6279 | 0.5824 | |||
CKF3 | 0.7576 | 0.9375 | 0.8426 | 0.5161 | 0.7647 | 0.5918 | 0.5094 | 0.6364 | 0.5840 | |||
CKF5 | 0.7576 | 0.9667 | 0.8417 | 0.5000 | 0.7647 | 0.5946 | 0.5094 | 0.6279 | 0.5814 |