TABLE II.

Comparison of results for model-dependent and data-driven dpe and shape sensing in free and constrained environments. errors for individual constrained experiments (a to h) from Fig. 4 Are also reported. All units are millimeter.

	Method		Exp a	Exp b	Exp c	Exp d	Exp e	Exp f	Exp g	Exp h	Constrained	Free (Tool)	Free (No Tool)
Shape	DNN	Mean	0.32	0.89	1.16	0.49	0.39	0.48	0.53	0.90	0.64	0.65	0.67
		Std.	0.21	0.60	0.71	0.32	0.25	0.22	0.29	0.50	0.28	0.35	0.52
		Max	0.65	1.74	1.95	1.22	0.81	0.65	0.98	1.51	1.95	1.16	1.22
	TNN	Mean	0.37	0.82	1.10	0.58	0.40	0.48	0.49	0.62	0.61	0.72	0.65
		Std.	0.24	0.55	0.83	0.42	0.25	0.28	0.27	0.32	0.23	0.48	0.36
		Max	0.70	1.70	2.27	1.25	0.76	0.84	0.93	0.98	2.27	1.31	1.65
	LIN	Mean	0.32	0.73	0.81	0.54	0.40	0.40	0.62	0.77	0.57	0.66	0.62
		Std.	0.22	0.46	0.98	0.78	0.25	0.19	0.36	0.41	0.18	0.36	0.45
		Max	0.66	1.52	2.74	1.74	0.84	0.65	1.19	1.31	2.74	1.24	1.44
	MODEL	Mean	0.23	1.14	0.78	1.08	0.32	0.42	1.07	1.24	0.78	1.67	1.30
		Std.	0.12	1.13	0.84	0.63	0.19	0.28	0.62	0.67	0.38	0.96	0.72
		Max	0.41	3.19	2.40	2.14	0.57	1.03	2.20	2.19	3.19	3.20	2.45
DPE	DNN	Error	0.23	0.48	0.16	1.22	0.36	0.38	0.93	1.11	0.61	0.11	0.78
	TNN	Error	0.23	0.64	1.72	0.50	0.52	0.34	0.93	0.78	0.71	0.28	0.68
	LIN	Error	0.21	0.98	2.74	0.87	0.32	0.13	0.49	1.31	0.88	0.29	0.86
	MODEL	Error	0.41	3.19	2.40	2.14	0.57	1.03	2.21	2.19	1.76	3.20	2.45