Information-Fusion Methods Based Simultaneous Localization and Mapping for Robot Adapting to Search and Rescue Postdisaster Environments

Algorithm 1

Information fusion algorithms.

Algorithm: Integration particle filter (IPF) procedures.

(1) _ = noise covariance matrix, eqs. (12) (16).

(2) R_ = observation matrix eqs. (1) (9) (11) (15) (17).

__;

_Est1;

_Est2;

_Est3;

_Est123;

_Est321;

(3) Error_variance = Error_sum , eqs. (13) (14) (18).