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

Table 5

Errors of the robot and tag localization generated by FastSLAM, P-SLAM, and the proposed SLAM method, using the RFID detection model on an unspecified trajectory.

Method	Robot location				Tag location
	(mm)	(mm)	(rad)	(mm)	(mm)	(mm)	(mm)
FastSLAM	110.4	198.6	0.131	245.7	122.5	234.1	280.0
P-SLAM	61.0	25.3	0.007	66.7	67.5	38.5	82.3
Proposed method	21.0	15.1	0.010	29.1	31.9	32.9	50.4