Simultaneous Localization and Mapping Based on Kalman Filter and Extended Kalman Filter

Table 1

Index of notation.

Notation	Description
	Current state
	Previous state
	Covariance matrix of prediction
	Covariance matrix of observation
	Estimated state vector
	Covariance matrix for prediction
	Process noise matrix
	Measurement noise matrix
	Process noise
	Observation noise
	Time instant
	Estimated measurement vector
,	Jacobian matrices of the function f
,	State transition matrix
	Input of the process noise
,	Vectors of state measurement noise
	Mobile robot velocity
	Landmark position
JF	Jacobian of state equation
	Kalman gain
	Updated estimate
	Updated covariance
	Measurement Jacobian or linearization matrix
dt	Global time
	Time
	Initial time
LM	Landmark
	New state covariance matrix