Cloud Update of Geodetic Normal Distribution Map Based on Crowd-Sourcing Detection against Road Environment Changes

Table 2

Table of robust localization performance in simulations.

Experiments	Longitudinal (m)		Lateral (m)		Heading (°)
	95%: 0.15	Max: 0.44	95%: 0.15	Max: 0.44	95%: 0.17	Max: 0.5
Without submap	0.08412	0.2002	0.30124	1.4518	1.1388	6.2191
With submap	0.031013	0.054553	0.012499	0.030573	0.052715	0.094034