degrees 0 20 0 20 40 500 10 20 30 40 50 10 20 30 40 - PDF document

estimated camera position estimated camera rotation 500 80 60 40 degrees 0 20 0 − 20 − 40 − 500 10 20 30 40 50 10 20 30 40 50 frame frame

RMS errors using prev (:) vs. model ( − ) 60 50 RMS intensity error 40 30 20 10 0 10 20 30 40 50 frame

estimated camera position estimated camera rotation 1000 80 60 500 40 degrees 0 20 0 − 500 − 20 − 40 − 1000 20 40 60 80 100 20 40 60 80 100 frame frame RMS errors using prev (:) vs. model ( − ) 60 50 RMS intensity error 40 30 20 10 0 20 40 60 80 100 frame