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Table 2 Self-localization errors at each of the 70 positions

From: Indoor mobile robot self-localization based on a low-cost light system with a novel emitter arrangement

Emitter configuration Error by mean Error by max Variance
x [mm] y [mm] \(\theta\) [rad] x [mm] y [mm] \(\theta\) [rad] x [mm\(^{2}\)] y [mm\(^{2}\)] \(\theta\) [rad\(^{2}\)]
Proposed configuration 21.49 29.23 0.065 68.72 78.81 0.226 73.11 78.63 0.002
11 unique ID encoding emitters 30.17 25.28 0.041 87.09 91.22 0.100 27.55 53.61 0.001
3 unique ID encoding emitters 89.19 47.94 0.074 185.03 99.61 0.125 0.12 0.01 0.000
Odometery 93.66 54.67 0.027 160.96 98.71 0.075 0.00 0.00 0.000