Table 2 Positioning error statistics
From: Urban localization using robust filtering at multiple linearization points
Algorithm | Statistics | Wide street | One-sided buildings | Medium urban |
|---|---|---|---|---|
Ours | Mean (m) | 5.6 | 6.8 | 25.6 |
Median (m) | 4.5 | 4.9 | 19.2 | |
95th percentile (m) | 19.3 | 22.1 | 51.7 | |
R-EKF | Mean (m) | 5.2 | 6.1 | 38.9 |
Median (m) | 4.1 | 5.8 | 23.3 | |
95th percentile (m) | 22.3 | 12.9 | 85.4 | |
R-UKF | Mean (m) | 7.3 | 21.8 | 16.2 |
Median (m) | 4.3 | 15.3 | 14.1 | |
95th percentile (m) | 44.0 | 81.2 | 40.7 | |
R-RBPF naive | Mean (m) | 81.5 | 80.2 | 81.3 |
Median (m) | 78.1 | 76.8 | 78.8 | |
95th percentile (m) | 302.1 | 381.5 | 305.5 | |
R-EKF-GNSS | Mean (m) | 4.9 | 6.8 | 58.7 |
Median (m) | 4.3 | 4.9 | 39.9 | |
95th percentile (m) | 8.2 | 16.4 | 255.4 | |
R-EKF-VO | Mean (m) | 74.3 | 67.1 | 32.3 |
Median (m) | 67.2 | 62.6 | 36.6 | |
95th percentile (m) | 87.0 | 131.1 | 72.3 |