Table 3 Lateral failure rate for different sections of the trajectory
From: Urban localization using robust filtering at multiple linearization points
Trajectory section | Our algorithm | R-EKF | R-UKF | R-RBPF | R-EKF-GNSS | R-EKF-VO |
|---|---|---|---|---|---|---|
Wide street | 0.04 | 0.07 | 0.10 | 0.91 | 0.00 | 0.77 |
One-side buildings | 0.12 | 0.14 | 0.21 | 0.70 | 0.01 | 0.59 |
Medium urban | 0.16 | 0.43 | 0.02 | 0.85 | 0.01 | 0.81 |