Table 1.
The result of a comparison between ground-truth and estimated extrinsic parameters.
| Initial | Refined | |||
|---|---|---|---|---|
| Number of Frames | Rotation (10−5) (Standard Deviation) | Translation (mm) (Standard Deviation) | Rotation (10−5) (Standard Deviation) | Translation (mm) (Standard Deviation) |
| 3 | 0.87 (1.77) | 133.86 (130.05) | 0.87 (1.86) | 22.82 (43.13) |
| 5 | 0.43 (0.77) | 38.69 (57.78) | 0.26 (0.48) | 5.76 (5.56) |
| 10 | 0.16 (0.15) | 8.88 (13.60) | 0.08 (0.13) | 2.58 (1.12) |
| 15 | 0.13 (0.14) | 4.90 (4.82) | 0.10 (0.13) | 2.36 (0.87) |
| 20 | 0.17 (0.13) | 3.05 (1.79) | 0.05 (0.05) | 2.34 (0.71) |
| 25 | 0.10 (0.08) | 2.92 (1.16) | 0.08 (0.09) | 1.85 (0.59) |
| 30 | 0.13 (0.09) | 2.11 (0.74) | 0.08 (0.08) | 1.88 (0.61) |