Localization of Outdoor Mobile Robots Using Curb Features in Urban Road Environments

Table 3

Error covariance of extracted curb.

	Range std. 𝜎𝑟	Angle std. 𝜎𝛼	Correlation 𝜎𝑟𝛼
Right curb	0.1620 m	0.0575 rad	0.0035 m·rad
Left curb	0.1614 m	0.0649 rad	−0.0034 m·rad