Camera Localization in Distributed Networks Using Trajectory Estimation

Table 2

Performance comparison between CLUTE, MAP, and MDS on the three datasets (4-camera network).

	ID	CLUTE		MAP		MDS
		𝜖𝑡	𝜖𝑟	𝜖𝑡	𝜖𝑟	𝜖𝑡	𝜖𝑟
Exp 1	2	0.26	2.36	0.31	5.94	0.57	11.56
	3	0.33	1.60	0.39	2.04	0.41	8.41
	4	0.12	1.18	0.11	2.59	0.27	3.72
	Average	0.18	1.29	0.20	2.64	0.31	5.92
Exp 2	2	0.15	4.36	0.19	1.52	0.23	0.96
	3	0.23	5.36	0.34	6.38	0.72	8.76
	4	0.15	4.65	0.17	8.08	0.23	15.99
	Average	0.13	3.59	0.18	4.00	0.30	6.43
Exp 3	2	0.20	6.42	0.28	11.94	0.39	21.26
	3	0.56	13.06	0.78	18.24	0.89	23.42
	4	0.19	1.98	0.23	4.00	0.57	10.19
	Average	0.24	5.37	0.32	8.55	0.46	13.72