Mobile Robot Indoor Positioning System Based on K-ELM

Table 2

Experimental results.

Algorithm	RMSE (m)	STD (m)	Training time (s)	Testing time (s)
ELM	5.8424	3.2616	0.9656
OSELM	12.3160	6.9533	0.4688
KNN	6.3185	4.4342	349	≈0
BYS	6.9662	5.2584	10.515	≈0
K-ELM	2.9322	2.4178	60.847