Particle Smoother-Based Landmark Mapping for the SLAM Method of an Indoor Mobile Robot with a Non-Gaussian Detection Model

<div>Average time costs of an update of the proposed SLAM method, P-SLAM, and FastSLAM with (a) a different number of robot particles and (b) a different number of detected tags.</div>

Journal of Sensors

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Figure 3

Figure 3: Particle Smoother-Based Landmark Mapping for the SLAM Method of an Indoor Mobile Robot with a Non-Gaussian Detection Model 