| | Robot 0 | Robot 1 | Robot 2 | Robot 3 | Robot 4 | RMSE |
| | (38.0, 26.0) | (38.0, 69.0) | (38.0, 152.0) | (39.0, 191.0) | (39.0, 111.0) | 0.0 | | Truth location (undistorted) | (83.0, 28.0) | (83.0, 70.0) | (83.0, 152.0) | (82.0, 194.0) | (83.0, 109.0) | | (x, y) | (144.0, 27.0) | (141.0, 66.0) | (142.0, 149.0) | (144.0, 190.0) | (142.0, 107.0) | | (190.0, 24.0) | (188.0, 65.0) | (189.0, 145.0) | (188.0, 184.0) | (190.0, 110.0) | | (234.0, 25.0) | (235.0, 65.0) | (235.0, 152.0) | (233.0, 192.0) | (234.0, 107.0) |
| | (44.2, 17.7) | (41.2, 61.1) | (37.2, 144.7) | (36.7, 183.6) | (39.8, 102.7) | 11.42 | | Uncalibrated (distorted) | (87.6, 19.9) | (85.8, 61.5) | (81.9, 147.3) | (79.2, 188.1) | (84.5, 102.7) | | (, ) | (148.6, 20.4) | (146, 60.2) | (143.4, 146.0) | (142, 187.6) | (143.8, 103.1) | | (196, 19.5) | (194.7, 60.6) | (192.5, 142) | (190.7, 182.3) | (192.9, 105.3) | | (239.8, 23.0) | (239.8, 62.8) | (237.2, 105.8) | (233.6, 191.2) | (238, 104.8) |
| | (34.5, 16.5) | (32.3, 57.2) | (27.6, 148.9) | (26.7,189.9) | (31.3, 105.3) |
7.03 | | (80.6, 20.0) | (79.5, 63.5) | (75.4, 150.9) | (71.9, 193.5) | (78.5, 105.4) | | Wide-angle calibration | (143.5, 21.1) | (140.7,62.6) | (138.0,149.0) | (136.7, 192.2) | (138.6, 105.6) | | (192.4, 19.5) | (190.2, 62.7) | (187.8, 145.3) | (186.6, 187) | (188.1, 108.1) | | (238.8, 22.1) | (237.8, 64.2) | (234.9, 155.2) | (232.2,197.6) | (236.4, 107.6) |
| | (32.8, 20.7) | (32.7, 67.3) | (32.0, 155.3) | (78.0, 199.1) | (33.7, 111.0) | 5.41 | | Wide-angle + camera-motion | (79.5, 22.7) | (80.3, 66.9) | (79.8,155.7) | (78.0,199.0) | (80.9, 109.4) | | calibrations | (143.1, 21.6) | (141.8, 63.8) | (142.1, 151.7) | (142.3, 195.5) | (141.2, 107.6) | | (192.5, 18.3) | (191.6, 62.1) | (191.7, 146.1) | (191.8, 188.6) | (190.8, 108.3) | | (239.4, 19.3) | (239.5, 61.9) | (238.9, 154.5) | (237.3, 197.6) | (239.2, 106.2) |
| | (38.0, 25.1) | (38.1, 69.4) | (37.3, 153.0) | (38.2, 193.0) | (38.9, 110.9) | 1.27 | | Wide-angle + camera-motion | (82.4, 27.0) | (83.1, 69.0) | (82.7, 153.4) | (81.0, 194.5) | (83.8, 109.4) | | +
different-level calibrations | (142.8, 25.9) | (141.5, 66.1) | (142.0, 149.5) | (142.0, 191.1) | (141.0, 107.6) | | (189.6, 22.9) | (188.8, 64.5) | (188.9, 144.3) | (188.9, 184.6) | (188.0, 108.3) | | (234.2, 23.8) | (234.3, 64.4) | (233.8, 152.2) | (232.2, 193.2) | (233.9, 106.3) |
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