IP97 versus HW89

In this comparison, no exit was allowed. Two link error plots were obtained for HW89 at each speed: with and without occlusions. At low speeds (figure 11), the performance of HW89 is satisfactory when $N$ is low. The link plots indicate that, al low speeds, a large portion of errors in HW89 are caused by occlusions.

  

Figure 11: IP97 versus HW89 for low speeds.

At high speeds (figure 12), the tracking performance of HW89 is much worse than that of IP97. Here, the negative impact of occlusions on HW89 is smaller than at low speeds. Note that the link error of IP97 is close to zero at both high and low speeds.

  

Figure 12: IP97 versus HW89 for high speeds.