\[\mathrm{ADD\text{-}S} = \frac{1}{|\mathcal{M}|}\sum_{\mathbf{x}_1 \in \mathcal{M}} \min_{\mathbf{x}_2 \in \mathcal{M}} \big\| (\mathbf{R}\mathbf{x}_1 + \mathbf{t}) - (\hat{\mathbf{R}}\mathbf{x}_2 + \hat{\mathbf{t}}) \big\|\]

Corners 5 cm from the centre; the estimate is turned 90$^\circ$. ADD, ADD-S, and do they pass at $0.1d$?

ADD: each corner lands one over, $a\sqrt{2} = 70.7$ mm ($a$: centre to corner). ADD-S: on a corner, $0$ mm.

Diameter $d = 100.0$ mm, threshold $10.0$ mm. ADD fails an indistinguishable pose; ADD-S passes it.