Table 3.

Performance on the development set, using the best combination of methods and parameters (n = 2788 strides). Shown are mean values (standard deviation) and RMSE.

Metric	IMU	VICON	Rel. Error	Abs. Error	RMSE
Stride dur. (s)	$1.23\left(0.27\right)$	$1.23\left(0.27\right)$	$0.00\left(0.03\right)$	$0.02\left(0.03\right)$	$0.03$
Swing dur. (s)	$0.41\left(0.08\right)$	$0.40\left(0.07\right)$	$0.01\left(0.04\right)$	$0.03\left(0.03\right)$	$0.04$
Stance dur. (s)	$0.82\left(0.21\right)$	$0.83\left(0.21\right)$	$-0.01\left(0.03\right)$	$0.02\left(0.02\right)$	$0.03$
Cad. (st/min)	$101.8\left(21.0\right)$	$101.7\left(20.9\right)$	$0.1\left(2.6\right)$	$1.7\left(1.9\right)$	$2.6$
SL (cm)	$112.4\left(25.2\right)$	$114.9\left(26.0\right)$	$-2.5\left(7.3\right)$	$5.3\left(5.6\right)$	$7.7$
Speed (cm/s)	$97.8\left(35.9\right)$	$100.2\left(37.9\right)$	$-2.3\left(6.9\right)$	$4.8\left(5.4\right)$	$7.3$
SW (cm)	$8.9\left(8.1\right)$	$9.2\left(8.5\right)$	$-0.3\left(1.3\right)$	$0.9\left(1.0\right)$	$1.3$
MTC (cm)	$1.7\left(0.8\right)$	$1.7\left(0.6\right)$	$0.1\left(0.8\right)$	$0.6\left(0.5\right)$	$0.8$
Turn angle (${}^{\circ }$)	$36.0\left(40.3\right)$	$35.3\left(40.3\right)$	$0.7\left(1.4\right)$	$1.0\left(1.2\right)$	$1.6$