Global Vision Localization of Indoor Service Robot Based on Improved Iterative Extended Kalman Particle Filter Algorithm

Table 1

RMSE and execution time of different algorithms (20 particles).

Algorithm	RMSE		Execution time (s)
	Mean	Variance
PF	0.81561	0.032085	0.69404
PF-EKF	0.39339	0.026261	0.70998
PF-IEKF	0.15723	0.011912	0.71868
PF-UIEKF	0.012276	1.1699e-005	0.77623