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Comparison of noise-free and noisy rigid IMU compensation. Rows: axial slice through shin, axial slice through thigh, sagittal slice. (a) Noise-free IMU signal, in row (b)-(e) noise is added to the simulated acceleration and angular velocity. The RMS noise value is 1.8 mg/s2 resp. 0.07 °/s divided by 10fa resp. 10fg.
