Fig. 6From: The hybrid Cramér-Rao lower bound for simultaneous self-localization and room geometry estimationWall line reconstruction is presented using \(y=\tan (\hat {\alpha }_{k})x+\hat {b}_{k}\), where the wall angle \(\hat {\alpha }_{k}\) and the wall offset \(\hat {b}_{k}\) are the estimated values obtained from the EKF algorithm presented in Section 4. The estimated wall line is drawn for different robot steps k=2,3,5,10,50Back to article page