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. 2014 Jan 9;14(1):1057–1072. doi: 10.3390/s140101057

Figure 5.

Figure 5.

Comparison of the differences between pairs (v⃗ref, v⃗est) of axes estimates and their FF matches, computed at the beginning and at the end of the LM regression (refer to Section 2.2.1. for the meaning of the acronyms). As a distance metric, we considered the angle between each pair of vectors, computed as the arccosine of their dot product.