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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°