Table 5.

Relative average endpoint error in percent (normalized with respect to the magnitude of the ground truth velocity), with standard deviations.

AAErel[%]	translSqu	rotBar	translSin	rotDisk	translBoxes
LKBD	123.43 ± 11.04	414.95 ± 767.50	57.85 ± 16.37	76.65 ± 31.87	116.95 ± 15.57
LKCD1	12.94 ± 36.16	197.47 ± 386.69	57.16 ± 25.55	54.46 ± 34.89	58.13 ± 28.86
LKCD2	32.87 ± 24.43	183.69 ± 276.91	37.54 ± 21.52	64.53 ± 24.52	72.54 ± 27.70
LKSG	65.08 ± 21.08	326.77 ± 253.31	32.50 ± 26.98	49.83 ± 27.64	35.62 ± 24.68
LPorig	0.00 ± 0.00	175.08 ± 460.93	62.82 ± 48.67	60.71 ± 61.76	37.93 ± 35.15
LProbust	0.00 ± 0.00	91.61 ± 278.97	59.45 ± 37.49	50.57 ± 37.08	36.13 ± 27.80
LPSF	6.41 ± 15.13	39.08 ± 63.84	69.62 ± 33.17	58.99 ± 37.87	33.49 ± 18.01
LPSG	0.00 ± 0.00	114.56 ± 341.18	54.41 ± 51.27	78.02 ± 281.03	66.74 ± 44.78
DS	1.06 ± 8.99	40.37 ± 54.65	62.92 ± 60.50	44.18 ± 34.91	30.73 ± 34.06