Journal of Sensors / 2019 / Article / Tab 2

Research Article

Mobile Robot Indoor Positioning System Based on K-ELM

Table 2

Experimental results.

AlgorithmRMSE (m)STD (m)Training time (s)Testing time (s)

ELM5.84243.26160.9656
OSELM12.31606.95330.4688
KNN6.31854.4342349≈0
BYS6.96625.258410.515≈0
K-ELM2.93222.417860.847