Information-Fusion Methods Based Simultaneous Localization and Mapping for Robot Adapting to Search and Rescue Postdisaster Environments

Figure 3

Mobile robot’s trajectory fusion and error analysis: (a) is fusion trajectory (red solid represents true exploration trajectory of mobile robot, and the blue dash dotted line shows the fusion trajectory by our proposed algorithm); (b) is sensor 1 error analysis, (c) is sensor 2 error analysis, and (d) is sensor 3 error analysis (each red line indicates the mean value).

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