Figure 3: Left: The change time estimation error Δ t 0 as a function of the rise time rt of the used change template. At rt opt , Δ t 0 is zero due to the perfect match of the change template to the real change in the signal. The insets show the corresponding time domain representations of the signal (solid lines) and the template (dotted lines) for the 4 typical segments of the graph Δ t 0 .
Right: The estimated change magnitude α versus rt .