Table 5.

Effect of the search range on the tracking error and computation speed

Search range Video	$101\times 101$		$201\times 201$		$401\times 401$
	Error (mm)	Speed (fps)	Error (mm)	Speed (fps)	Error (mm)	Speed (fps)
Val_1	1.82	93.6	2.54	73.9	0.32	31.5
Val_2	1.45	94.1	1.40	73.7	1.52	30.5
Test_1	2.53	91.3	1.68	73.3	0.91	30.5
Test_2	2.82	89.4	1.51	72.6	0.94	31.7
Test_3	1.37	92.2	1.85	74.7	1.43	31.7
Average	2.00	92.1	1.79	73.6	1.02	31.2

The speed is measured on a Nvidia RTX 2080 Max-Q laptop GPU. When running on an Intel i9-10980HK CPU, on average our program runs at 33fps, 16fps, and 6fps when the search range is set to $101\times 101$, $201\times 201$, and $401\times 401$, respectively.

The bold values indicate that the corresponding algorithm (or model setting) performs the best in the comparison