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

<table class="table-group" id="tab3"><tr><td><table class="table"><tr><td class="thead-hr" colspan="4"><hr/></td></tr><tr class="thead"><td class="align_left" rowspan="2">Algorithm</td><td class="align_center" colspan="2">RMSE</td><td class="align_center" rowspan="2">Execution time (s)</td></tr><tr class="thead"><td class="align_center">Mean</td><td class="align_center">Variance</td></tr><tr><td class="thead-hr" colspan="4"><hr/></td></tr><tr><td class="align_left">PF</td><td class="align_center">0.45981</td><td class="align_center">0.057805</td><td class="align_center">0.79223</td></tr><tr><td class="align_left">PF-EKF</td><td class="align_center">0.28979</td><td class="align_center">0.016474</td><td class="align_center">2.6039</td></tr><tr><td class="align_left">PF-IEKF</td><td class="align_center">0.0062112</td><td class="align_center"><span style="width: 72.0547ptpx;"><svg height="8.69875pt" id="M142" style="vertical-align:-0.3499298pt" version="1.1" viewbox="-0.0498162 -8.34882 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transform="matrix(.013,0,0,-0.013,42.452,0)"><path d="M535 230V280H52V230H535Z"></path></g><g transform="matrix(.013,0,0,-0.013,52.988,0)"><path d="M241 635C89 635 35 457 35 312C35 153 89 -12 240 -12C390 -12 443 166 443 312C443 466 390 635 241 635ZM238 602C329 602 354 454 354 312C354 172 330 22 240 22C152 22 124 173 124 313S148 602 238 602Z"></path></g><g transform="matrix(.013,0,0,-0.013,59.228,0)"><path d="M241 635C89 635 35 457 35 312C35 153 89 -12 240 -12C390 -12 443 166 443 312C443 466 390 635 241 635ZM238 602C329 602 354 454 354 312C354 172 330 22 240 22C152 22 124 173 124 313S148 602 238 602Z"></path></g><g transform="matrix(.013,0,0,-0.013,65.468,0)"><path d="M137 343C167 482 260 545 321 574C357 591 397 603 429 609L423 641C382 634 335 622 295 608C189 570 37 457 37 238C37 84 125 -12 242 -12C362 -12 447 89 447 209C447 311 374 393 267 393C247 393 226 386 204 376L137 343ZM227 337C318 337 361 256 361 173C361 105 336 22 258 22C176 22 126 120 126 240C126 266 127 291 132 310C155 323 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443 312C443 466 390 635 241 635ZM238 602C329 602 354 454 354 312C354 172 330 22 240 22C152 22 124 173 124 313S148 602 238 602Z"></path></g><g transform="matrix(.013,0,0,-0.013,59.232,0)"><path d="M241 635C89 635 35 457 35 312C35 153 89 -12 240 -12C390 -12 443 166 443 312C443 466 390 635 241 635ZM238 602C329 602 354 454 354 312C354 172 330 22 240 22C152 22 124 173 124 313S148 602 238 602Z"></path></g><g transform="matrix(.013,0,0,-0.013,65.472,0)"><path d="M137 343C167 482 260 545 321 574C357 591 397 603 429 609L423 641C382 634 335 622 295 608C189 570 37 457 37 238C37 84 125 -12 242 -12C362 -12 447 89 447 209C447 311 374 393 267 393C247 393 226 386 204 376L137 343ZM227 337C318 337 361 256 361 173C361 105 336 22 258 22C176 22 126 120 126 240C126 266 127 291 132 310C155 323 189 337 227 337Z"></path></g></svg></span></td><td class="align_center">6.0593</td></tr><tr class="table-tr"><td colspan="4"><hr class="tbody-hr"/></td></tr></table></td></tr></table>

<div>RMSE and execution time of different algorithms (200 particles).</div>

Journal of Sensors

tab3

Table 3

Table 3: Global Vision Localization of Indoor Service Robot Based on Improved Iterative Extended Kalman Particle Filter Algorithm 