Pose angle differences across different conditions.

Condition A represents the pose calculated from simulated data after the simulated tag shifts have been corrected using the proposed method. Condition B presents the pose calculated from the original data (without tag shift). Condition C represents pose calculated from the original data (without tag shift) using Madgwick’s filter [24], which involves the additional use of a gyroscope. Direct difference (e.g., A − B) is used to detect a bias in the difference, while the absolute difference (e.g., |A − B|) returns the magnitude of the difference. Pose angle differences are in degree. Each cell gives a mean ± standard deviation.