Fig. 5From: Consistent map building in petrochemical complexes for firefighter robots using SLAM based on GPS and LIDAR Fast-SLAM trajectory result based on RTK-GPS sigma values, which are 0.2 (dark red), 0.5 (red), 1.0 (brown), 1.5 (green), 2.0 (black), 2.5 (dark blue), and 3.0 (blue). RTK-GPS measurement (cyan)Back to article page