Indoor Vision/INS Integrated Mobile Robot Navigation Using Multimodel-Based Multifrequency Kalman Filter

Table 3

Positioning error comparison.

Model	East direction		North direction
	Mean (m)	RMSE (m)	Mean (m)	RMSE (m)
Vision	0.1403	0.9002	0.0173	0.9420
MKF	0.1035	0.8925	0.0195	0.9539
MKF with multimodel method	0.0137	0.0184	0.0114	0.0977

The smallest errors are indicated in bold