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

Table 4

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 with rotation.

Method	Robot location				Tag location
	(mm)	(mm)	(rad)	(mm)	(mm)	(mm)	(mm)
FastSLAM	147.9	266.5	0.063	330.4	134.3	254.06	311.9
P-SLAM	74.3	36.8	0.005	86.6	81.2	52.7	104.6
Proposed method	23.9	22.7	0.005	36.2	41.9	41.0	65.7