An Improved Extended Information Filter SLAM Algorithm Based on Omnidirectional Vision

Table 1

Localization error of IEIF-vSLAM.

	Section I		Section II		Section III
	Max.	Avg.	Max.	Avg.	Max.	Avg.
1st circle
𝑋 error (m)	0.432	0.296	0.633	0.437	0.546	0.349
𝑌 error (m)	0.395	0.247	0.578	0.432	0.430	0.271
Angle error (°)	3.7	1.9	4.3	2.5	3.6	2.2
2nd circle
𝑋 error (m)	0.329	0.267	0.541	0.363	0.451	0.273
𝑌 error (m)	0.318	0.231	0.481	0.365	0.318	0.231
Angle error (°)	2.9	1.6	3.5	2.4	2.5	1.5
3rd Circle
𝑋 error (m)	0.401	0.235	0.502	0.253	0.471	0.245
𝑌 error (m)	0.264	0.172	0.467	0.236	0.286	0.217
Angle error (°)	2.4	1.1	3.2	1.8	2.3	1.2