A FastSLAM Algorithm Based on Nonlinear Adaptive Square Root Unscented Kalman Filter

Table 1

Error in created environmental features.

(a)

Feature	Line		Line		Line		Arc FB
	Slope	Intercept	Slope	Intercept	Slope	Intercept	Center	Radius
Error	0.0616	−10.6518 mm	−0.0292	7.8651 mm	0.0247	−15.5775 mm	15.5822 mm	−13.3833 mm

(b)

Feature	Break point A	Corner point D	Corner point E	Corner point F
Error	21.7072 mm	20.3451 mm	18.5317 mm	31.0601 mm