Table 1 The ground truth coordinates from pixy camera vs. estimate values from our SLAM
From: An intelligible implementation of FastSLAM2.0 on a low-power embedded architecture
Coordinates | Landmark | Ground truth (cm) | Estimated (cm) | ||||
|---|---|---|---|---|---|---|---|
X | Y | Θ | X | Y | Θ | ||
Corner detection | L01 | 123.01 | 10.01 | 4.7° | 116.5 | 11.97 | 5.9° |
L02 | 118.9 | 55.19 | 24.9° | 122.8 | 52.02 | 23° | |
L03 | 121.4 | 104.5 | 40.7° | 124.3 | 115 | 42.8° | |
L05 | 57.88 | 106.5 | 61.5° | 65.45 | 113.8 | 60.1° | |
L06 | 18.8 | 103.8 | 79.7° | 23.69 | 97.69 | 76.4° | |
Corridor detection | L01 | 64.63 | 19.95 | 17.2° | 67.67 | 14.31 | 11.9° |
L02 | 84.8 | 32.32 | 20.9° | 79.81 | 34.27 | 23.2° | |
L03 | 93.91 | 47.06 | 26.6° | 98.03 | 57.47 | 30.4° | |
L04 | 58.56 | 79.6 | 53.7° | 68.75 | 88.92 | 52.3° | |
L05 | 44.68 | 65.06 | 55.5° | 44.03 | 60.51 | 54° | |