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

Table 7

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 with rotation.

Method	Robot location				Tag location
	(mm)	(mm)	(rad)	(mm)	(mm)	(mm)	(mm)
FastSLAM	114.4	237.8	0.040	275.1	100.7	218.1	251.3
P-SLAM	45.2	121.6	0.020	137.1	42.6	112.9	128.2
Proposed method	21.5	90.9	0.012	96.6	19.8	86.0	92.6