Table 1 Result of the accuracy of roller pose estimation

Case 1

4.20 (2.58)

2.49 (1.34)

3.21 (5.44)

1.58 (1.70)

1.87 (0.46)

Case 2

6.57 (5.31)

1.77 (1.48)

2.69 (3.83)

4.14 (3.00)

1.78 (1.52)

Case 3

2.37 (1.90)

2.81 (1.56)

10.69 (7.01)

2.24 (0.95)

0.91 (0.79)

Case 4

2.60 (1.93)

2.14 (1.46)

14.77 (10.36)

1.54 (0.95)

1.91 (1.67)

Case 55

3.95 (4.00)

2.38 (2.07)

14.67 (11.27)

1.61 (1.23)

1.79 (1.49)