Table 1: Analysis of location errors.

IVT L1MITProposed
MaxMeanStdMaxMeanStdMaxMeanStdMaxMeanStd

OneLeaveShopReenter2cor26.3211.268.827.332.461.7244.2121.6716.686.65 2.02 1.86
David Indoor18.769.435.9842.5957.649.9318.7620.514.676.71 1.45 1.21
Car422.715.892.228.712.891.4459.5423.076.377.41 1.36 1.45
PETS01D1Human15.980.930.875.091.680.976.121.161.145.951.390.91