TABLE 2

Case-Wise Position and Heading Estimation Accuracy and Percentages of the Rejected Area

The second value in each cell is the result of the proposed algorithm when perfect segmentation is supported.

indexEasyMediumHard
Embedded ImageaEmbedded Imagebrejectedc
area		Embedded ImageEmbedded Imagerejected
area		Embedded ImageEmbedded Imagerejected
area
1. North1.9/0.01.4/0.496%1.8/0.01.6/0.495%7.8/0.00.6/0.499%
1. East1.9/0.02.4/0.496%1.8/0.01.8/0.295%7.8/0.00.7/0.399%
2. North0.0/0.01.1/0.194%4.2/0.00.6/0.499%2.7/0.01.3/0.387%
2. East0.0/0.00.9/0.194%5.3/0.00.5/0.599%2.7/0.01.5/0.587%
3. North0.0/0.02.0/0.096%6.0/0.00.5/0.596%17.0/0.07.1/0.141%
3. East0.0/0.01.5/0.596%5.7/0.01.2/0.296%17.2/0.06.9/0.141%
4. North0.0/0.00.2/0.299%5.7/0.06.7/0.399%26.8/0.02.7/0.389%
4. East0.0/0.00.1/0.199%5.7/0.06.6/0.499%26.8/0.03.1/0.189%
5. North1.8/0.01.1/0.198%1.9/0.00.9/0.198%1.9/0.02.6/0.490%
5. East1.8/0.00.7/0.398%1.9/0.00.8/0.298%1.9/0.02.8/0.290%
6. North0.0/0.00.5/0.598%4.3/0.00.6/0.491%2.7/0.00.7/0.392%
6. East0.0/0.00.3/0.398%4.3/0.00.9/0.191%2.7/0.00.8/0.292%

  • ↵a Converted to meters

  • ↵b Given in degrees

  • ↵c Ratio of rejected area with respect to the size of Embedded Image