Figure 8.

The plots shows the local and global uncertainty metrics compared to the angular errors (red) for the four scenarios, see (a–d). Local uncertainty is quantified by ${\mu }_z+2{\sigma }_z$, where ${\mu }_z$ is the estimated mean AD (64) and ${\sigma }_z$ is the standard deviation, computed from the estimated covariance matrix (65). Local uncertainty (blue) is shown for both ${\widehat{j}}_1$ and ${\widehat{j}}_2$ for each scenario. Global uncertainty is quantified by (68). The global uncertainty (green) with $n_{min}=10$ is shown for each scenario. Horizontal dashed lines show the accuracy threshold $E_{max}=3^{\circ }$. Vertical dashed lines show when estimates $\widehat{j}$ were accepted by Algorithm 4. For each scenario, the leftmost vertical lines show the case of $n_{min}=3$ and the rightmost vertical lines show the case of $n_{min}=10$, where Algorithm 4 terminates when the estimates have reached the desired accuracy w.r.t. ground truth.