Table 2: Upward slope angle evaluation results in units of cm. 1000 sensing trials are averaged. The medial filter number ( ) is 5 or 21.

Medial filter number ( )Real slope angle (deg.) (cm)Mean value (deg.)Max. value (deg.)Min. value (deg.)Variance (deg.)

50.0017.019.415.90.465
20.04.0018.921.017.50.561
7.0020.522.217.41.01
0.0014.716.513.00.218
15.04.0015.316.214.20.121
7.0016.118.712.81.89
0.009.6812.17.740.243
10.04.0010.313.47.841.36
7.0010.813.29.260.162

210.0016.918.116.50.0951
20.04.0019.720.518.90.110
7.0019.322.218.40.284
0.0014.615.313.00.104
15.04.0014.817.613.50.873
7.0015.516.314.80.129
0.009.8010.59.110.0630
10.04.009.8910.78.210.114
7.009.4011.58.590.255