Evaluation of tracking robustness in real time panorama acquisition

We present an analysis of four orientation tracking systems used for construction of environment maps. We discuss the analysis necessary to determine the robustness of tracking systems in general. Due to the difficulty inherent in collecting user evaluation data, we then propose a metric which can be used to obtain a relative estimate of these values. The proposed metric will still require a set of input videos with an associated distance to ground truth, but not an additional user evaluation.