Vision-Based Semantic Unscented FastSLAM for  Indoor Service Robot

<table class="figure-group"><tr class="fig-image" id="a"><td><object data="https://static.hindawi.com/articles/mpe/volume-2015/149206/figures/149206.fig.005a.svgz" name="149206.fig.005a" type="image/svg+xml"></object></td></tr><tr class="fig-caption"><td><b>(a) </b>Experiment result using Unscented FastSLAM</td></tr><tr class="fig-image" id="b"><td><object data="https://static.hindawi.com/articles/mpe/volume-2015/149206/figures/149206.fig.005b.svgz" name="149206.fig.005b" type="image/svg+xml"></object></td></tr><tr class="fig-caption"><td><b>(b) </b>Experiment result using Semantic Unscented FastSLAM</td></tr></table>

<div>Partially enlarged view of SLAM results in Experiment <a href="https://static.hindawi.com/articles/mpe/volume-2015/149206/figures/#expe1">1</a>.</div>

Mathematical Problems in Engineering

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Figure 5

Figure 5: Vision-Based Semantic Unscented FastSLAM for  Indoor Service Robot 