Research Article
Multisensor Fusion SLAM Research Based on Improved RBPF-SLAM Algorithm
Table 1
The computation time of each step of the algorithm before and after improvement with different numbers of particles.
| | Parameters | Traditional RBPF-SLAM algorithm | Improved RBPF-SLAM algorithm |
| | Number of particles (pc) | 10 | 20 | 40 | 70 | 10 | 20 | 40 | 70 | | Update particles (ms) | 102 | 214 | 376 | 697 | 86 | 185 | 355 | 675 | | Resampling (ms) | 315 | 635 | 1,813 | 3,836 | 156 | 298 | 856 | 1,630 |
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