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. 2014 Oct 30;10(10):e1003927. doi: 10.1371/journal.pcbi.1003927

Figure 5. Estimating initial pose using reverse replay of past self-motion estimates.

Figure 5

(A) Uncertainty (blue particle cloud) during real-time localization or during reverse replay, showing the estimated pose (cyan arrow) and the true pose (red arrow) during a two-minute period initially disoriented. (B) Ip (median, IQR) and V(θ) are shown during real-time localization (black) or during reverse replay (red), and the corresponding Ip distributions at 30 s.