By plugging in X in the Equation (4), we get wpred as a result. wpred = [d' i']T, where d' and i' are estimated distance and intensity, respectively. After estimating these value for all the data-sets in a Testing-set, we took mean of the estimated values (mean of distance values, mean of intensity values) within each Testing set. This completes estimation of world-state values for one Testing-set. We have 14 such Testing-set's from 52 data-sets as seen in Table IV. For all the 14 Testing-set's, the estimated world-state values compared against ground-truth values and a detailed analysis of results are given in next subsection.