Table 1.

Comparison of the error statistics of the conventional and the proposed algorithms in the simulation environment (Unit: m, deg).

	P3P Algorithm		OPnP Algorithm		Proposed Algorithm
	Mean	Stdev	Mean	Stdev	Mean	Stdev
x	0.634	0.353	0.486	0.132	0.292	0.085
y	0.714	0.351	0.665	0.307	0.279	0.076
z	0.801	0.444	0.663	0.245	0.706	0.368
${\theta }_{\mathrm{roll}}$	1.368	1.795	0.981	0.705	1.227	1.569
${\theta }_{\mathrm{pitch}}$	1.527	2.141	1.292	1.493	1.273	0.658
${\theta }_{\mathrm{yaw}}$	1.070	0.934	1.188	0.774	0.493	0.257