Real-Time Nonlinear Characterization of Soft Tissue Mechanical Properties

Figure 6

Estimations of measurement noise covariance by AUKF and RAUKF for the case that measurement noise covariance is constant or small-variation: the estimated measurement 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