Research on SLAM Road Sign Observation Based on Particle Filter

Table 1

Statistical comparison of simulation results of two algorithms.

Algorithm	Particle number	Average execution time (s)	Estimated path RMSE average (m)	Estimate RMSE average of map (m)
EKF_SLAM	10	50.21	2.0367	2.8814
	20	123.36	1.5531	2.2417
	30	233.68	1.2347	1.8249
	40	268.7	1.0326	1.6271
Monocular SLAM_WOCPF	10	51.03	1.8824	2.6035
	20	124.66	1.4023	2.0513
	30	235.08	1.1827	1.7322
	40	265.19	1.0138	1.4369