TABLE 3

Two-Dimensional Pose Estimation Accuracy and Rejection Rate Results Obtained Under Erroneous Scale Conditions

indexEasyMediumHard
Embedded ImageaEmbedded ImagebrejectedcareaEmbedded ImageEmbedded Imagerejected areaEmbedded ImageEmbedded Imagerejected area
1. North4.2/0.02.4/0.496%1.8/0.01.6/0.494%12.7/0.02.7/0.399%
1. East4.2/0.02.4/0.496%1.8/0.01.8/0.294%12.7/0.02.5/0.599%
2. North0.0/0.01.1/0.194%4.2/0.00.6/0.499%2.7/0.07.5/0.589%
2. East0.0/0.00.9/0.194%4.2/0.00.5/0.599%2.7/0.07.4/0.489%
3. North0.0/0.02.0/0.095%6.0/0.01.5/0.596%20.6/0.02.1/0.140%
3. East0.0/0.01.5/0.595%5.9/0.01.8/0.296%20.6/0.01.9/0.140%
4. North1.9/0.01.2/0.299%5.7/0.06.7/0.399%29.3/0.04.7/0.389%
4. East1.9/0.01.1/0.199%5.7/0.06.6/0.499%29.3/0.05.1/0.189%
5. North1.8/0.01.1/0.198%2.6/0.00.9/0.198%1.9/0.04.6/0.490%
5. East1.8/0.00.7/0.398%2.6/0.00.8/0.298%1.9/0.02.8/0.290%
6. North0.0/0.00.5/0.598%4.3/0.00.6/0.492%2.7/0.02.3/0.791%
6. East0.0/0.00.3/0.398%4.3/0.00.9/0.192%2.7/0.02.8/0.291%
  • a Converted to meters

  • b Given in degrees

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