Table 5 Vertical 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 | 0.00 | 0.04 | 0.29 | 0.26 | 0.05 | 0.73 |
One-side buildings | 0.00 | 0.02 | 0.05 | 0.32 | 0.02 | 0.47 |
Medium urban | 0.01 | 0.28 | 0.37 | 0.08 | 0.02 | 0.65 |