Comparative Study of Two Localization Approaches for Mobile Robots in an Indoor Environment

Table 17

AEE for one landmark.

AEE	Gaussian noise	Non-Gaussian noise
EKF	0.138	48.38
PF	0.025	0.020

Here, PF outperforms the EKF in the estimation of the position and orientation of a WMR for the Gaussian noise in contrast to the non-Gaussian.