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

ROBOMECH Journal

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

Emitter configuration	Error by mean			Error by max			Variance
Emitter configuration	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