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The root mean square error of distance is 0.026 mm with regard to the view field of about 200×200 mm and the feature matching of three images is strict.
In comparison with the results measured by a micrometer, the mean error of distance measurement was −0.8 ± 1.7 mm (−2.3 ± 3.6%) and that of angle measurement was −0.3 ± 2.9° (−0.1 ± 4.1%).
In AutoWitness [13], the error of distance estimation is less than 10%% for most of the cases, which could be large enough when the estimated distance is long (10%% of the 2 miles is 0.2 miles).
The normalized error of distance estimate from normal node i to anchor j is calculated by ε ij = | d ̂ ij − d ij | / d max for i ∈ Ω N, j ∈ Ω A. Note that d ̂ ij ≠ 0. The normalized localization error of normal node i with distance estimates to at least three anchors is γ i = ∥ p ̂ i − p i ∥ / d max.
Standard error of distance estimates were obtained by using a bootstrap procedure with 10,000 pseudoreplicates.
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Controlling errors of distance estimate functions and location decision functions is very challenging.
Although we are investigating these structures in the framework of position based visual servoing (PBVS), similar ones could be applied to IBVS, using visual error instead of distance.
Simulation parameters Value Network diameter 100 m × 100 m Number of reference devices 25 Number of mobile devices 16 Transmit range 30 m Measurement noise of ranging distance 3 m NLOS bias error of ranging distance 10 m.
Statistical methods, calibrated by these objects, provide rough estimates (about 30 percent errors) of distances for all others.
The sensors measure the distances to their neighboring locators using the Received Signal Strength Indicator (RSSI) method; the measurement error of the distance follows a normal distribution, where the mean value and the standard deviation is within a threshold.
The results show that for line positioning, the maximum error of absolute distance is about 0.8 cm.
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