Table 4.

Evaluation results of the estimation error of the proposed method compared to the golden standard in the stride length the turning angle, and the normalized endpoint position, respectively.

Condition	Stride length [m]	Turning angle [°]	Normalized endpoint position [m]
All	− 0.027 (− 0.054 to − 0.006)	0.7 (− 0.2–1.7)	0.029 (0.019–0.04)
Normal speed	− 0.028 (− 0.057 to − 0.006)	0.7 (− 0.2–1.5)	0.026 (0.016–0.033)
Slow speed	− 0.026 (− 0.051 to − 0.005)	0.9 (− 0.2–2)	0.033 (0.022–0.043)
Straight	− 0.011 (− 0.036 to 0.007)	0.6 (0–1.4)	0.024 (0.018–0.036)
Zigzag	− 0.012 (− 0.033 to 0.005)	0.7 (− 1.3–3)	0.029 (0.016–0.036)
TUG3M	− 0.022 (− 0.04 to − 0.001)	1.0 (− 0.2–2)	0.019 (0.013–0.025)
TUG5m	− 0.021 (− 0.049 to 0.001)	0.7 (− 0.2–1.7)	0.029 (0.02–0.039)
Closed rectangular	− 0.024 (− 0.046 to − 0.003)	0.8 (− 0.3–1.7)	0.031 (0.023–0.043)
Closed curved	− 0.026 (− 0.054 to − 0.007)	0.6 (− 0.3–1.4)	0.028 (0.016–0.031)
Closed rectangular 3 lap	− 0.032 (− 0.06 to − 0.008)	0.7 (− 0.2–1.7)	0.038 (0.024–0.044)
Closed curved 3 lap	− 0.033 (− 0.06 to − 0.012)	0.8 (− 0.1–1.8)	0.036 (0.027–0.044)
Elliptical	− 0.032 (− 0.059 to − 0.013)	0.8 (0.0–1.8)	0.029 (0.021–0.041)

These results are evaluated under the two walking speed conditions and nine walking route conditions.