Fig. 2

Accuracy validation. Top down view of one of the ’accuracy’ dataset trials with the COLMAP dense reconstruction in the background (left). A calibration wand with a length of 0.5 m was moved through the environment to create two trajectories with known per-frame distances (visualized as lines at a frequency of 3 Hz, the full temporal resolution of the trajectories is 30 Hz). This allowed the calculation of relative tracking errors as the difference of the triangulated calibration wand end-to-end distance from the its known length of 0.5 m, resulting in the shown error distribution (normalized histogram with probability density function, right). The per-frame tracking error is visualized as line color