On-Board Correction of Systematic Odometry Errors in Differential Robots

Table 3

Validation results 3m--3m.

Method
		(mm)	(mm)	(rads)
Before cal.	Mean Error	99.76	-553.07	0.0875
	Std. Dev.	14.89	55.61	0.0178
UAH Cal.	Mean Error	70.03	-18.29	0.0037
	Std. Dev.	9.66	49.57	0.0152
UMB Cal.	Mean Error	76.38	-9.58	-0.019
	Std. Dev.	4.60	33.35	0.028