Fig. 2.

Graphs of performance evaluation data from Table 1. Data from participants P1, P2 and P3 are shown in red, green and blue, respectively. Left: median and maximum error (meters), indicated by data points connected by vertical lines. Median errors are mostly under 1.5 meters, with the exception of P3, whose rapid walking speed led to severe localization errors (see text). Right: average walking speed (meters/second).