Table 3.

Maximum detectable distance and rotation angle around different axes

Rotation axis	Previous work [10]	Dual-pattern marker (ours)
Roll (${}^{\circ }$)	$\pm {85}^{\circ }$	${360}^{\circ }$
Pitch (${}^{\circ }$)	$\pm {78}^{\circ }$	${360}^{\circ }$
Yaw (${}^{\circ }$)	$\pm {83}^{\circ }$	$8^{\circ }$–${82}^{\circ }\cup {188}^{\circ }$–${352}^{\circ }$
Distance to camera (mm)	60–200	50–220