Figure 4:

Illustration of the profile of the gain, G_exp, during a typical recalibration experiment [10]. During Epoch 1, the gain was initiated at G_exp = 1, corresponding to stationary landmarks. In Epoch 2, the landmarks began to move according to an ever increasing or decreasing gain. During Epoch 3 a final experimental gain, G_exp = G_final, was maintained. Finally, the landmarks were extinguished during Epoch 4. The number of laps for each Epoch is illustrative and varied across actual experiments.