Research Article
Camera Localization in Distributed Networks Using Trajectory Estimation
Table 7
Performance comparison between CLUTE, MAP, and MDS on the three datasets for missing and noisy data (8-camera network).
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ID | Downsampled by 2 | Downsampled by 3 | Noisy | CLUTE | MAP | CLUTE | MAP | CLUTE | MAP | | | | | | | | | | | | |
| Exp 1 | 2 | 0.23 | 1.01 | 0.28 | 2.59 | 0.28 | 1.39 | 0.33 | 5.05 | 0.66 | 33.69 | 0.96 | 42.69 | 3 | 0.05 | 0.63 | 0.07 | 0.87 | 0.06 | 1.72 | 0.10 | 2.93 | 0.64 | 18.65 | 0.74 | 10.65 | 4 | 0.18 | 2.87 | 0.20 | 3.26 | 0.21 | 7.40 | 0.28 | 9.36 | 0.88 | 17.25 | 1.68 | 28.25 | 5 | 0.33 | 1.46 | 0.37 | 1.40 | 0.40 | 3.81 | 0.76 | 3.74 | 0.42 | 15.37 | 0.82 | 22.37 | 6 | 0.04 | 1.20 | 0.06 | 0.87 | 0.07 | 0.45 | 0.09 | 2.86 | 1.41 | 58.19 | 1.61 | 62.19 | 7 | 0.07 | 0.72 | 0.12 | 1.22 | 0.05 | 1.38 | 0.20 | 4.25 | 0.84 | 23.83 | 1.34 | 27.83 | 8 | 0.11 | 1.96 | 0.16 | 2.09 | 0.12 | 5.75 | 0.24 | 5.18 | 0.42 | 15.45 | 0.52 | 17.45 | Average | 0.14 | 1.41 | 0.18 | 1.76 | 0.17 | 3.13 | 0.29 | 4.77 | 0.77 | 26.06 | 1.10 | 30.20 |
| Exp 2 | 2 | 0.02 | 0.78 | 0.03 | 3.61 | 0.02 | 0.91 | 0.09 | 5.91 | 0.03 | 0.30 | 0.04 | 7.61 | 3 | 0.08 | 1.47 | 0.06 | 0.59 | 0.08 | 1.48 | 0.09 | 7.52 | 0.02 | 0.53 | 0.05 | 3.74 | 4 | 0.03 | 4.38 | 0.05 | 6.62 | 0.05 | 4.99 | 0.10 | 11.01 | 0.06 | 1.22 | 0.08 | 4.24 | 5 | 0.04 | 0.06 | 0.09 | 5.48 | 0.04 | 0.10 | 0.11 | 5.62 | 0.21 | 0.52 | 0.23 | 2.92 | 6 | 0.14 | 1.68 | 0.17 | 5.68 | 0.13 | 1.66 | 0.14 | 8.85 | 0.11 | 0.41 | 0.13 | 2.07 | 7 | 0.05 | 1.06 | 0.06 | 3.99 | 0.06 | 1.24 | 0.09 | 6.59 | 0.19 | 3.62 | 0.20 | 5.37 | 8 | 0.03 | 1.25 | 0.04 | 4.25 | 0.03 | 1.30 | 0.07 | 7.31 | 0.02 | 0.25 | 0.06 | 2.40 | Average | 0.05 | 1.34 | 0.06 | 3.78 | 0.05 | 1.46 | 0.09 | 6.60 | 0.08 | 0.86 | 0.10 | 3.54 |
| Exp 3 | 2 | 0.01 | 0.30 | 0.03 | 2.52 | 0.01 | 0.67 | 0.04 | 3.39 | 0.21 | 0.27 | 0.28 | 3.12 | 3 | 0.03 | 0.12 | 0.09 | 3.68 | 0.04 | 0.03 | 0.06 | 2.89 | 0.65 | 6.94 | 0.86 | 8.31 | 4 | 0.11 | 9.13 | 0.07 | 11.31 | 0.10 | 8.60 | 0.10 | 13.55 | 0.60 | 22.82 | 0.93 | 28.24 | 5 | 0.07 | 2.31 | 0.07 | 2.14 | 0.06 | 1.81 | 0.17 | 2.00 | 0.93 | 28.82 | 0.99 | 30.11 | 6 | 0.05 | 0.32 | 0.17 | 5.24 | 0.05 | 0.14 | 0.14 | 6.69 | 1.28 | 40.12 | 1.32 | 49.20 | 7 | 0.04 | 0.05 | 0.09 | 4.97 | 0.03 | 0.45 | 0.08 | 3.53 | 1.30 | 30.65 | 1.33 | 18.32 | 8 | 0.00 | 0.01 | 0.09 | 12.98 | 0.00 | 0.02 | 0.01 | 15.78 | 0.07 | 3.02 | 0.08 | 4.33 | Average | 0.04 | 1.53 | 0.08 | 5.36 | 0.04 | 1.47 | 0.08 | 5.98 | 0.63 | 16.58 | 0.72 | 17.70 |
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