Polar Metric-Weighted Norm-Based Scan Matching for Robot Pose Estimation

Table 4

Loop closure errors of maps and runtime.

	Hall environments		Laboratory environment
	Series 1	Series 2	Series 1	Series 2
PMWN	(10.3 cm, 3 cm, 0.8°, 3.9 s)	(5.9 cm, 14.1 cm, 0.6°, 2.0 s)	(10.4 cm, 4.7 cm, 0.9°, 4.1 s)	(7.6 cm, 6.7 cm, 0.02°, 1.9 s)
PSM	(21.1 cm, −26.5 cm, −1.6°, 4.1 s)	(13.1 cm, −5 cm, −84.5°, 2.1 s)	(37.1 cm, −14.3 cm, −0.7°, 4.5 s)	(17.7 cm, −8.8 cm, −1.0°, 2.4 s)
Mb-ICP	(−5.7 cm, −4.3 cm, 2.7°, 14.3 s)	(178 cm, 17 cm, −50°, 7.4 s)	(−1.7 cm, 2.7 cm, −0.3°, 11.5 s)	(11.4 cm, −14.3 cm, −1.0°, 6.4 s)