Camera Localization in Distributed Networks Using Trajectory Estimation

Table 3

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

	ID	Downsampled by 2				Downsampled by 3				Noisy
		CLUTE		MAP		CLUTE		MAP		CLUTE		MAP
		𝜖𝑡	𝜖𝑟	𝜖𝑡	𝜖𝑟	𝜖𝑡	𝜖𝑟	𝜖𝑡	𝜖𝑟	𝜖𝑡	𝜖𝑟	𝜖𝑡	𝜖𝑟
Exp 1	2	0.25	2.48	0.27	5.64	0.22	1.33	0.31	3.43	0.15	1.87	0.15	4.13
	3	0.34	1.70	0.42	2.32	0.32	0.73	0.44	3.39	0.63	10.99	0.63	12.88
	4	0.12	1.11	0.21	4.08	0.14	2.15	0.43	8.70	0.78	13.06	0.78	15.50
	Average	0.18	1.32	0.22	3.01	0.17	1.05	0.30	3.88	0.39	6.48	0.39	8.13
Exp 2	2	0.14	4.27	0.21	4.47	0.15	4.54	0.13	5.96	0.37	11.12	0.39	13.45
	3	0.22	5.02	0.35	6.27	0.24	5.70	0.34	7.88	0.33	7.55	0.43	9.88
	4	0.15	4.45	0.16	7.94	0.16	4.86	0.43	5.41	0.58	19.14	0.71	17.14
	Average	0.13	3.44	0.18	4.67	0.14	3.78	0.22	4.81	0.32	9.45	0.38	10.12
Exp 3	2	0.09	2.95	0.23	13.36	0.03	1.04	0.31	16.54	0.43	168.10	0.57	175.21
	3	0.34	7.16	0.57	12.92	0.35	2.46	0.65	7.63	0.92	4.77	1.32	9.32
	4	0.39	5.61	0.94	8.80	0.64	14.91	1.30	18.96	1.86	41.36	1.90	45.56
	Average	0.20	3.93	0.44	8.77	0.26	4.60	0.56	10.78	0.80	53.56	0.95	57.52