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

Figure 6

Results obtained by FastSLAM, P-SLAM, and the proposed method, using the RFID detection model on a predefined trajectory with rotation. (a), (b), and (c), respectively, show the results obtained by FastSLAM, P-SLAM, and the proposed method.

(a)

(b)

(c)