Table 1.

Performance evaluation showing median localization error, maximum localization error and average walking speed for each participant and condition. Errors are in meters, and speeds in meters/second. (Error accuracy is limited to approximately 1 m, the accuracy of the ground truth locations.)

Partic.	R1 satchel	R1 hand	R2 hand	R2 satchel
P1	0.57, 18.34, 0.63	0.49, 1.42, 0.83	0.56, 2.75, 0.86	0.45, 4.01, 0.83
P2	1.22, 3.79, 0.78	0.93, 3.96, 0.91	0.98, 2.86, 0.68	0.87, 3.33, 0.83
P3	24.52, 52.33, 1.05	2.51, 12.11, 1.14	2.63, 4.60, 1.04	1.37, 5.37, 1.16