In the third row, the proposed algorithm is given the initial correspondences. Apparently, the initialization can compensate for the negative effect of occlusion, since the corresponding values in the second and the third rows are quite close. Note that the differences between the first and the third rows only become significant for high speeds and many trajectories. Otherwise, self-initialization is possible and sufficient. Table 3 demonstrates that the proposed algorithm performs reasonably well in presence of all events considered.
Occlusion has the same impact here as in the previous case.
Finally, it should be noted that the processing speeds of the two non-iterative algorithms, RS91 and IP97, are similar, while the iterative SS90 is approximately 10 to 100 times slower, depending on the number of trajectories.