Camera Localization in Distributed Networks Using Trajectory Estimation

Table 9

8-camera network: comparison between CLUTE and MAP in case of the failure of 3 cameras.

	ID	CLUTE		MAP
		𝜖𝑡	𝜖𝑟	𝜖𝑡	𝜖𝑟
Exp 1	2	0.20	2.74	0.76	6.67
	3	0.07	1.67	1.47	5.76
	4	0.13	26.80	0.38	42.81
	5	0.21	1.90	0.87	23.82
	Average	0.15	8.28	0.87	19.77
Exp 2	2	0.01	23.14	0.32	3.51
	3	0.03	25.16	0.17	1.99
	4	3.13	30.28	3.44	45.34
	5	0.06	2.33	0.49	7.98
	Average	0.64	16.18	0.89	11.76
Exp 3	2	0.40	23.14	0.52	26.25
	3	1.41	25.16	1.31	22.27
	4	0.98	30.28	1.32	38.82
	5	0.60	2.33	1.21	4.18
	Average	0.68	16.18	0.87	18.30