Fig. 3: IMU-based localization system performance in 3D. | npj Robotics

Fig. 3: IMU-based localization system performance in 3D.

From: Gait-adaptive IMU-enhanced exploration strategy for autonomous search and rescue with insect-machine hybrid system

Fig. 3

a–c Position estimation in 3D based on IMU compared to true position provided by the accurate position tracking system. d Error propagation during the cockroach walking. The scale of the error bar is 10% of the travel distance scale, which was significantly higher than the 2D positioning error. The empty data point was due to a marking missing in the external optical tracking system. Estimated positions are shown in blue, while true positions are depicted in red.

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