An Unscented Kalman Filter-Based Method for Reconstructing Vehicle Trajectories at Signalized Intersections

Table 1

Comparison of results of trajectory reconstruction methods.

Vehicle ID	Number of stops	Method	MAE (m)
2	0	EM	5.62
		Proposed in this paper	2.91
5	1	EM	4.27
		Proposed in this paper	3.81
8	0	EM	6.41
		Proposed in this paper	3.32
19	1	EM	5.53
		Proposed in this paper	4.67