Fig. 4From: New graphical models for sequential data and the improved state estimations by data-conditioned driving noisesA realization of the hidden signal \(x_n\) over time is generated from (7a) and compared with the smoothing approximations using observations from (7b). Top panel shows the RMSE distance between these two trajectories, and the bottom panel shows the mean and variance of averaged RMSE (aRMSE)Back to article page