Figure 11.

(a) Occurring bimodal distribution caused by uncertain measurements in the first $13.4$ $\mathrm{s}$ of walk 1. After $20.8$ $\mathrm{s}$, the distribution gets unimodal. The weigted-average estimation (orange) provides a high error compared to the ground truth (solid black), while the KDE approach (blue) does not; (b) Error development over time for the complete walk. From 230 $\mathrm{s}$ to 290 $\mathrm{s}$ to pedestrian was not moving.