method

yaw (˚)

pitch (˚)

roll (˚)

t_x (mm)

t_y (mm)

t_z (mm)

reference [16]

2.511

1.101

1.516

−294.49

35.968

48.267

Ours

2.538

0.995

1.515

−294.54

35.996

48.274