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

Table 3

Errors of the robot and tag localization generated by FastSLAM, P-SLAM, and the proposed SLAM method, using the RFID detection model on predefined trajectories without rotation.

Method	Robot location				Tag location
	(mm)	(mm)	(rad)	(mm)	(mm)	(mm)	(mm)
FastSLAM	315.1	204.5	0.182	420.8	296.6	210.1	412.1
P-SLAM	41.4	66.6	0.003	82.1	66.1	80.1	110.5
Proposed method	25.4	45.1	0.006	53.8	50.3	51.2	79.0