Table 3.

Particle filtered location prediction errors in meters.

	Small Map		Large Map
Noise Level	0 dBm	10 dBm	0 dBm	10 dBm
No Obstruction	0.52 ($\sigma =0.15$)	0.77 ($\sigma =0.21$)	0.77 ($\sigma =0.22$)	2.17 ($\sigma =0.77$)
2 concrete blocks	0.83 ($\sigma =0.32$)	0.71 ($\sigma =0.27$)	1.91 ($\sigma =0.86$)	2.33 ($\sigma =0.89$)