Table 1.

Simulation results for 100 simulations with 50 time steps each and three different resampling schemes. Errors are computed by taking the 2-norm of the error (true robot pose vs estimated robot pose). Presented are average error (mean), standard deviation (std. dev.) and the number of times a resampling step has been performed.

Scheme	Mean	Std. Dev.	# Resampling Steps
Every time step	3.73	2.97	5000
${\widehat{N}}_{eff}$	3.81	2.98	1281
$1/{max}_i\left(w_k^i\right)$	3.68	3.03	1806