Fig. 5.

Position errors of temporally integrated estimates stay within (a) 3 cm Euclidean distance error and (b) 2 ° angle error for analytical image motion and within (c) 15 cm distance error and (d) 6 ° angle error for simulated optic flow that includes Gaussian noise with σ _flow = 25 °/frame. (e and f) Shows the distance and angle error for estimates from optic flow with Gaussian flow noise σ _flow = 25 °/frame where every T _reset = 1 min a reset to the ground-truth position and orientation happens. Note the difference in intervals for the y-axis between panels