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Experimental Result
| Starting point | Target point | Wheel odometry | Error | Fusion odometry | Error |
| (0,0) | (1.3,0) | (1.347,0.035) | (0.047,0.035) | (1.324,0.029) | (0.024, 0.029) |
| (1.3,-3.25) | (1.391,-3.373) | (0.091,0.123) | (1.386,-3.322) | (0.086, 0.072) | |
| (0,-3.25) | (0.152,-3.387) | (0.152,0.137) | (0.085,-3.316) | (0.085, 0.066) | |
| Mean error | (0.097,0.098) | (0.065, 0.056) | |||
Local map fusion rules
| 2D excitation Optical radar | Depth camera | ||
| Occupy | empty | Uncertain | |
| Occupied | Occupy | Occupy | Occupy |
| empty | Occupy | empty | empty |
| Uncertain | Occupy | empty | Uncertain |
Positioning results
| Actual location (m) | Actual pose (°) | Gmapping | Vision + Laser | ||||||
|---|---|---|---|---|---|---|---|---|---|
| Estimated position (m) | Estimated pose (°) | Root mean square error of position (cm) | Attitude error (°) | Estimated position (m) | Estimated pose (°) | Root Mean square error of position (cm) | Pose Error (°) | ||
| (6,0) | 30 | (6.085, 0.079) | 33.149 | 11.604 | 3.149 | (6.059, 0.037) | 31.092 | 5.9 | 1.092 |
| (6,-3) | 90 | (6.094,-3.081) | 94.634 | 12.408 | 4.634 | (6.064,-3.051) | 92.043 | 8.184 | 2.043 |
| (6,-6) | 90 | (6.103,-6.089) | 95.005 | 13.612 | 5.005 | (6.072,-6.063) | 92.729 | 9.567 | 2.729 |
| (0,-6) | 180 | (0.135,-6.112) | 186.024 | 17.541 | 6.024 | (0.089,-6.075) | 184.007 | 11.639 | 4.007 |
| (0,0) | 0 | (0.156, 0.127) | 7.678 | 20.116 | 7.678 | (0.091, 0.08) | 4.96 | 12.117 | 4.96 |