Skip to main content

Table 5 Average tracking error from experiments

From: Improving low-cost inertial-measurement-unit (IMU)-based motion tracking accuracy for a biomorphic hyper-redundant snake robot

Num. Video Dis. X-axis Video Dis. Y-axis IMU Dis. X-axis IMU Dis. Y-axis Video Ave. speed IMU Ave. speed Average velocity error (%) Dis. error (%)
1 34.37 95.85 38.65 106.85 24.90 27.12 8.93 11.59
2 31.56 93.48 36.14 105.61 24.28 26.80 10.40 12.14
3 32.14 96.54 36.54 107.36 25.08 27.25 8.67 11.48
4 33.19 101.3 39.45 109.74 26.31 27.85 5.88 9.87
5 36.21 98.65 40.19 109.22 25.62 27.72 8.19 11.56
6 34.95 97.51 38.47 110.35 25.33 28.01 10.58 12.23
7 35.41 101.3 39.10 113.84 26.31 28.89 9.81 12.18
8 34.87 95.11 37.30 107.97 24.70 27.40 10.93 12.12
9 39.12 105.9 45.85 118.54 27.50 30.09 9.41 12.21
10 34.84 96.34 36.54 108.21 25.02 27.46 9.76 11.70