Table 3: Downward slope angle evaluation results in units of cm. 1000 sensing trials are averaged. The medial filter number ( ) is 21.

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

10.0 2.06
5.00 7.69
2.00 10.3

10.0 1.41
5.00 3.76
2.00 4.35

10.0 1.45
5.00NANANANA
2.00NANANANA