Comparison of position error and number of landmarks at k = 54 s across different comparison methods with G : GPS landmarks, and V : vision landmarks.
| Methods | Position Error | Landmarks |
|---|---|---|
| Proposed ILA (with Huber) | 2.9 m | 6 (G), 956 (V) |
| Proposed ILA (with LS) | 4.6 m | 6 (G), 956 (V) |
| Only GPS | 6.9 m | 6 (G), 0 (V) |
| All GPS and vision | 5.4 m | 6 (G), 4722 (V) |
| Random (300 runs) | 9.1 m | 962 (G + V) |