Localization Estimation Comparison of Robot 2 in Real-World Experiments
| Robot 2 | w/o ZU | w/ ZU | Improvement* | |
|---|---|---|---|---|
| Error (m) | MaxE | 2.22 | 1.60 | 27.76 % |
| MaxN | 2.24 | 1.86 | 16.98 % | |
| MaxU | 58.21 | 2.11 | 96.38 % | |
| RMSEE | 1.26 | 0.94 | 25.23 % | |
| RMSEN | 1.26 | 1.03 | 18.19 % | |
| RMSEU | 23.57 | 0.95 | 95.96 % |
| Robot 2 | w/o ZU | w/ ZU | Improvement* | |||||
|---|---|---|---|---|---|---|---|---|
| Best | Worst | Average* | Best | Worst | Average* | |||
| 3D Err (m) | Median | 6.27 | 20.79 | 13.06 | 0.61 | 2.39 | 1.57 | 87.98 % |
| Max | 13.93 | 164.58 | 58.39 | 1.56 | 3.61 | 3.05 | 94.77 % | |
| STD | 4.37 | 47.37 | 15.83 | 0.34 | 0.91 | 0.85 | 94.66 % | |
| RMSE | 7.59 | 63.89 | 23.75 | 0.67 | 2.27 | 1.76 | 92.59 % | |
↵* The values shown are the averages of 10 tests. Improvement was based on the average values.