Table 2.

Object localization experimental results using the average Euclidean norm as the metric for the overall performance of the system. Bold values represent the best results. (N) denotes No, and (Y) denotes Yes.

	Original							FPR
	Orange Juice	Yogurt	Mustard	Raisins	Cookies	Custom	Average	Orange Juice	Yogurt	Mustard	Raisins	Cookies	Custom	Average
$\Delta x$	15.1	53.2	22.4	66.5	87.3	141.5	64.3	9.8	24.4	15.3	7.1	87.3	19.2	27.2
$\Delta y$	7.4	63.7	4.0	73.1	7.6	79.2	39.2	5.2	16.4	0.4	1.3	7.6	4.1	5.8
$\Delta z$	9.6	8.8	10.6	6.8	2.1	26.8	10.8	5.4	9.7	9.4	10.6	2.1	8.3	7.6
l	19.4	83.5	25.1	99.1	87.6	164.4	79.8	12.4	31.0	18.0	12.8	87.6	21.3	30.5
$FP$	N	Y	N	Y	Y	Y		N	N	N	N	Y	N
	Best							Worst
	Orange Juice	Yogurt	Mustard	Raisins	Cookies	Custom	Average	Orange Juice	Yogurt	Mustard	Raisins	Cookies	Custom	Average
$\Delta x$	4.0	9.8	15.1	4.2	2.7	5.8	6.9	111.6	214.5	214.3	171.1	87.3	141.5	156.7
$\Delta y$	1.2	11.8	0.3	1.9	3.8	1.0	3.3	101.5	161.8	56.7	129.3	7.6	79.2	89.4
$\Delta z$	6.1	5.9	9.5	9.9	9.2	9.3	8.3	6.7	14.4	9.1	6.4	2.1	26.8	10.9
l	7.4	16.4	17.8	10.9	10.3	11.0	12.3	151.0	269.1	221.9	214.5	87.6	164.4	184.4
$FP$	N	N	N	N	N	N		Y	Y	Y	Y	Y	Y