Camera Space Particle Filter for the Robust and Precise Indoor Localization of a Wheelchair

Table 1

RMS error in m of positions reached using different filter techniques against a reference.

RMS error
Experiment	Coordinate	No-filter	EKF	CSPF
Line		0.113	0.017	0.009
		0.135	0.033	0.013
L-path		0.045	0.042	0.033
		0.268	0.076	0.048
Office-path		—	—	0.033
		—	—	0.079