Table 1: Comparisons of average localization error.

Localization area Room 1 Room 2 Corridor Overall Without outlier detection scheme (unit: cm) 82.86 89.90 83.47 85.41 With outlier detection scheme (unit: cm) 71.30 61.93 66.23 66.49 Improvement 13.95% 31.11% 20.58% 22.15%