Table 2.

Mean values of camera to IMU calibration results for different sensors and sensor configurations for VersaVIS.

	B	${\mathit{t}}_{\mathit{e}}$	N	Reprojection Error $\left[\mathbf{pixel}\right]$		Gyroscope Error $[\mathbf{rad}/\mathbf{s}]$
				Mean	Std	Mean	Std
VersaVIS	0	AE	10	0.100078	0.064657	0.009890	0.006353
VersaVIS	2	AE	6	$\mathbf{0.098548}$	0.063781	0.007532	0.005617
VersaVIS	4	AE	6	0.101866	0.067196	0.007509	0.005676
VersaVIS	4	$1 \mathrm{ms}$	6	0.121552	0.075939	0.006756	0.004681
VersaVIS	4	$3 \mathrm{ms}$	6	0.108760	$\mathbf{0.062456}$	0.006483	0.004360
VersaVIS	4	$5 \mathrm{ms}$	6	0.114614	0.074536	0.006578	0.00428
VI-Sensor	×	AE	40	0.106839	0.083605	0.008915	0.007425
Realsense	×	AE	40	0.436630	0.355895	$\mathbf{0.000000}$	$\mathbf{0.000005}$
	$\mathit{B}$	${\mathit{t}}_{\mathit{e}}$	N	Accelerometer error $[\mathbf{m}/{\mathbf{s}}^{\mathbf{2}}]$		Time offset $\left[\mathbf{ms}\right]$
				Mean	Std	Mean	Std
VersaVIS	0	AE	10	0.143162	0.191270	1.552360	0.034126
VersaVIS	2	AE	6	0.083576	0.130018	5.260927	0.035812
VersaVIS	4	AE	6	0.030261	0.018168	19.951467	0.049712
VersaVIS	4	$1 \mathrm{ms}$	6	0.026765	0.014890	20.007137	0.047525
VersaVIS	4	$3 \mathrm{ms}$	6	0.024309	0.014367	20.002966	0.035952
VersaVIS	4	$5 \mathrm{ms}$	6	0.027468	0.016553	19.962924	$\mathbf{0.029872}$
VI-Sensor	×	AE	40	0.044845	0.042446	$\mathbf{1.173100}$	0.046410
Realsense	×	AE	40	$\mathbf{0.000000}$	$\mathbf{0.000002}$	9.884808	5.977421