Table 1.

Average translation error in millimeters with different noise levels and numbers of measurements N.

	${\mathit{\sigma }}_{\mathbf{l}}=0$ ${\mathit{\sigma }}_{\mathbf{c}}=0$		${\mathit{\sigma }}_{\mathbf{l}}=8\times {10}^{-3}$ ${\mathit{\sigma }}_{\mathbf{c}}=7\times {10}^{-3}$		${\mathit{\sigma }}_{\mathbf{l}}=16\times {10}^{-3}$ ${\mathit{\sigma }}_{\mathbf{c}}=14\times {10}^{-3}$
N	Mean	Stdev	Mean	Stdev	Mean	Stdev
3	41.761	104.362	20.790	25.124	57.849	112.365
4	10.872	17.941	12.206	12.363	14.940	11.681
5	6.492	7.997	8.350	9.076	9.115	5.675
10	4.591	3.458	5.759	4.974	5.849	1.989
20	2.575	1.981	3.646	2.564	4.123	1.139
30	2.673	1.263	2.867	1.659	3.735	0.878
39	2.091	0.883	2.666	1.206	3.261	0.413