Figure 8.

Performance of different Opportunity sensor subsets (mean of n = 5 runs) according to (a) the sample-by-sample $F_{1w, nn}$ and (b) the event-based F1 $F_{1e}$. Using larger sensor subsets, including gyroscopes (G), accelerometers (A), and the magnetic (Mag) components of the inertial measurement units, as well as all 113 standard sensors channels (All), tended to improve performance metrics. The best models (e.g., 4× ms-C/L, ms-C/L, ms-CNN, and p-C/L) maintain relatively high performance even with fewer sensor channels.