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

Table 8

The mean of the trials of the EKF (two landmarks and non-Gaussian noise).

Trials	T1	T2	T3	T4	T5	T6	T7	T8	T9	T10	Mean
ex (m)	0.522	5.87	0.656	0.562	0.276	0.434	1.37	0.472	3.04	0.150	1.27
ey (m)	0.511	4.15	0.838	0.609	0.259	0.578	0.863	0.443	3.18	0.216	1.16
eθ (deg)	0.216	6.55	0.902	0.667	0.108	0.589	1.14	0.211	4.19	0.110	1.46
Time (sec)	0.037	0.040	0.023	0.027	0.025	0.036	0.028	0.026	0.025	0.025	0.029 s