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

Table 1

Sensors utilized to the SLAM technology of the indoor mobile robot.

Sensors	Visual camera			LRF	Barcode	RFID
	Monocular	Stereo	RGB-D
Pros	Cheap and useful for indoor and outdoor environment	Available depth information	Directly depth information obtained	High precision and speed	Fast and accurate capture of data	Accurate identification, robust, and cheap
Cons	Scale uncertainty	Complex computation cost and calibration	Large noise and sensitive to outdoor environment	Expensive and sensitive to dynamic object and transparent materials	Need arrangement work and keep visibility and clarity	Arrangement work needed
SLAM method	PTAM [9], ORB-SLAM [10], and LSD-SLAM [11]			Gmapping [12] and cartographer [13]	FastSLAM [14]	RFID-SLAM [15] and P-SLAM [16]
Applications	AR, VR, field robots, and autonomous vehicles			Sweeping robot and autonomous vehicles	Amazon robotics (Kiva)	Internet of things, logistics, and positioning