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

Figure 4

(a) Average robot location errors by the proposed method, P-SLAM, and FastSLAM, using different detection ranges. (b) Average tag location errors by the proposed method, P-SLAM, and FastSLAM, using different detection ranges.

(a)

(b)