Relative Pose Estimation Algorithm with Gyroscope Sensor

Table 1

Average reprojection errors of 6 basic scenes (unit: pixel).

	2	1	0.5
8 pt	0.774027	0.448177	0.246181
6 pt	0.61605	0.36723	0.213302
5 pt	0.425233	0.192617	0.155683
S^2fM	0.529583	0.38755	0.226083
Gaida et al.	Average of 8.69^1

result is given by the author in paper [7].