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

Table 6

Errors of the robot and tag localization generated by FastSLAM, P-SLAM, and the proposed SLAM method, using a range and bearing sensor on predefined trajectories without rotation.

Method	Robot location				Tag location
	(mm)	(mm)	(rad)	(mm)	(mm)	(mm)	(mm)
FastSLAM	106.1	213.8	0.031	259.4	105.4	231.4	281.5
P-SLAM	42.2	90.8	0.013	108.4	40.8	52.6	70.9
Proposed method	55.4	85.2	0.016	113.2	53.1	86.3	111.5