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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