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(a)
(b)
(c)
(d)
4e+08
3e+08
2e+08
1e+08
0
0
10
20
30
40
50
(e)
(f)
(g)
100
3
50
0
0
-3
-50
-6
t
t
t
z
-100
u
θ
x
u
-9
θ
y
u
-150
θ
z
-12
-200
-15
-250
-300
-18
0
10
20
30
40
50
0
10
20
30
40
50
(h)
(i)
Fig. 5.5
Third experiment, occlusions (
x
axis in seconds): (a) initial image; (b) image at t
≈
11 s; (c) image at t
≈
13 s; (d) final image; (e) cost function; (f)
I
−
I
∗
at the initial position; (g)
I
−
I
∗
at the end of the motion; (h) translation errors (in mm); and (i) rotation errors (in deg)
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