Fig. 4

From up to down, left to right angles. Dots are \(\theta _1, \theta _2, \theta _3\) and \(\theta _4\) estimated values from five executions per frame. The gray line is a weighted mean, each value is weighted by the normalized objective function (the normalized objective function values from the five executions sums to one) . The green line is a cubic-spline interpolation of the weighted mean