Comparison of position error and number of landmarks at k = 54 s across different comparison methods with G : GPS landmarks, and V : vision landmarks.

MethodsPosition ErrorLandmarks
Proposed ILA (with Huber)2.9 m6 (G), 956 (V)
Proposed ILA (with LS)4.6 m6 (G), 956 (V)
Only GPS6.9 m6 (G), 0 (V)
All GPS and vision5.4 m6 (G), 4722 (V)
Random (300 runs)9.1 m962 (G + V)