Question: Researchers at Carnegie Mellon University developed an algorithm for estimating the sensor motion of a robotic arm by mounting a camera with inertia sensors on

Researchers at Carnegie Mellon University developed an algorithm for estimating the sensor motion of a robotic arm by mounting a camera with inertia sensors on the arm (International Journal of Robotics Research, Dec. 2004). One variable of interest is the error of estimating arm translation (measured in centimeters). Data for 10 experiments are listed in the following table. In each experiment, the perturbation of camera intrinsics and projections were varied. Suppose a trial resulted in a translation error of 4.5 cm. Is this value an outlier for trials with perturbed intrinsics but no perturbed projections? For trials with perturbed projections but no perturbed intrinsics? What type of camera perturbation most likely occurred for this trial?

Translation Perturbed Intrinsics Projections Error (cm) Perturbed Trial Yes Yes Yes Yes Yes No No No No No No No No No No Yes Yes Yes Yes Yes 1.0 1.3 3.0 1.5 1.3 22.9 21.0 34.4 29.8 17.7 10

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