“…The weighting factor, ω i , in (2) describes the sharing weight of each PDF in the drawn measurement vector, m 6×1 ,
where ω i elements are the mixture weights, and g ( x|μ i , Σ i ) represents the probability density functions associated with the Gaussian distributions. Each of the two g ( x|μ i , Σ i ) is estimated from D -variate Gaussian distribution with parameters μ i and Σ i ( i = 1, 2) with their respective means and covariance matrices [32], [33]. λ denotes the model parameters set for the mixture of two Gaussian distributions, represented parametrically by,
…”