In this scenario, we used different resolutions for pose estimation and the dense depth estimation: while the images for the pose estimation had a resolution of 1072 x 712 pixels, the dense depth estimation was performed on images with a
resolution of 2144 x 1424 pixels. The minimum and maximum distance between objects and the camera were 1000 and 3000 mm, respectively. Hence, the lower bound for the geometric accuracy varies between 0. 7 mm and 2.0 mm for a sensor of size 23.6 x 15.8 mm.