Table 4 Longitudinal 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 | 0.15 | 0.24 | 0.19 | 0.71 | 0.00 | 0.98 |
One-side buildings | 0.14 | 0.18 | 0.19 | 0.62 | 0.02 | 0.72 |
Medium urban | 0.24 | 0.49 | 0.18 | 0.39 | 0.00 | 0.87 |