[Retracted] Design of Smart Home Service Robot Based on ROS

Table 1

Comparison of relative displacement estimation errors.

Time	Attitude sensor	Lidar	Attitude sensor and lidar data fusion
1	0.536	0.403	0.100
2	0.478	0.512	0.050
3	0.494	0.511	0.060
4	0.501	0.496	0.030
5	0.564	0.500	0.041
6	0.478	0.533	0.091
…	…	…	…
45	0.580	0.494	0.196
46	0.700	0.601	0.136
47	0.674	0.632	0.133
48	0.601	0.678	0.145
49	0.654	0.631	0.101
50	0.625	0.589	0.091