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

Table 4

Table of robust localization performance in experiments.

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	0.2299	0.36875	0.28506	0.66626	0.41892	0.94196
With submap	0.1478	0.19742	0.13104	0.20154	0.14799	0.2351