Research Article
An Improved EKF-SLAM for Mars Surface Exploration
Table 2
Some comparison results of the two algorithms.
| | Standard EKF-SLAM | EKF-SLAM with submaps |
| The total number of the feature points considered in the state variables | 700 | 440 | Computational complexity | | | The triaxial position error of Mars rover | ≤1 m | ≤0.5 m | The triaxial angle error of Mars rover | ≤0.5° | ≤0.5° |
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