TABLE II:

Mean RMSE between the noise-free and noisy estimation of translation [mm] / rotation [°]. All values are the result of averaging over five independent noise simulations of one scan. The rows and columns show the exponents f_a and f_g of the noise factor for the accelerometer resp. gyroscope. RMSE values for both noisy acceleration and angular velocity that are below 1 for translation and rotation are highlighted as bold.

fa╲fg	0	1	2	3	4	5	no noise
0	9461 / 1.453	8866 / 0.146	6329 / 0.016	6762 / 10−3	8518 / 10−4	10389 / 2 · 10−5	9390 / 10−5
1	1899 / 1.404	883 / 0.128	663 / 0.012	754 / 10−3	883 / 10−4	666 / 2 · 10−5	940 / 10−5
2	1104 / 1.357	158 / 0.128	133 / 0.016	73 / 10−3	61 / 10−4	77 / 2 · 10−5	81 / 10−5
3	1173 / 1.270	125 / 0.122	20 / 0.015	7 / 10−3	9 / 10−4	9 / 2·10−5	9 / 10−5
4	1622 / 1.645	190 / 0.190	10 / 0.014	1 / 10−3	0.943 / 10−4	0.985 / 2 · 10−5	0.672 / 10−5
5	108 / 1.193	146 / 0.178	10 / 0.013	1 / 10−3	0.167 / 10−4	0.078 / 2 · 10−5	0.077 / 10−5
no noise	148 / 1.285	80 / 0.129	12 / 0.014	1 / 10−3	0.077 / 10−4	0.021 / 2 · 10−5	0 / 0