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Localization results for the environment subject to unknown moving objects.
| Localization Algorithm | Model Set Size (Points) | Average ICP Iterations | Total ICP Iterations | Local. Error (mm) Avg/Max |
|---|---|---|---|---|
| Full-Points ICP (Point-to-Point ICP) | 1991 | 35 | 86687 | taken as ground truth |
| WP-ICP with 10 cm Interpolation | 213 | 13 | 30838 | 53.7/261.3 |
| WP-ICP with 20 cm Interpolation | 114 | 9 | 22981 | 60.5/264.6 |
