Real-Time Nonlinear Characterization of Soft Tissue Mechanical Properties

Figure 2

Estimations of system noise covariance by both AUKF and RAUKF for the case that system noise covariance is constant or in a small variation: the estimated system noise covariances are indicated by the blue lines and the reference values by the red lines.

(a) AUKF via windowing approximation

(b) RAUKF via recursion