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Table 3 Self-localization errors with different heights

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

Height [cm]

110

112

114

116

118

120

122

124

126

128

130

Error by mean

 x [mm]

53.45

74.36

37.94

28.47

25.01

21.49

26.36

36.02

21.82

87.43

55.82

 y [mm]

60.07

41.75

30.22

37.66

25.67

29.23

28.05

29.90

36.10

20.61

51.04

 \(\theta\) [rad]

0.204

0.118

0.103

0.106

0.042

0.065

0.051

0.011

0.062

0.036

0.073

Error by max

 x [mm]

128.56

141.37

103.25

56.23

44.76

68.72

52.65

62.84

50.26

121.85

97.65

 y [mm]

215.58

96.28

76.27

88.44

38.10

78.81

46.67

73.92

72.14

39.07

76.68

 \(\theta\) [rad]

0.221

0.160

0.158

0.147

0.077

0.226

0.067

0.022

0.084

0.053

0.114

  1. Italic values indicate significance of results at the standard height of 120 cm