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. Author manuscript; available in PMC: 2022 Jul 1.

Published in final edited form as: IEEE Robot Autom Lett. 2021 Mar 25;6(3):4782–4789. doi: 10.1109/lra.2021.3068893

TABLE I.

Accuracy of the Proposed Approach on Rough Terrain

Ash Pile		Test Specifics^*			Error (%)
	Σ_D (m)	ϵ(m)	Stop Count	Σ_T (s)	ENU	Median
Test1	671	5	8	879	3.07	1.73
Test2	663	3	19	924	1.78	1.04
Test3	652	3	20	915	1.14	1.05
Test4	339	2	9	469	0.91	0.58
Test5	152	2	5	215	0.94	0.82
	Horizontal Error (m)			RMS Error (m)
	Median	STDD	Max.	East	North	Up
Test1	11.60	12.01	34.48	17.84	7.26	7.25
Test2	6.89	5.68	18.78	9.49	3.08	6.24
Test3	6.84	2.88	11.10	5.67	4.44	1.75
Test4	1.96	1.27	5.86	1.74	1.83	1.78
Test5	1.24	0.80	2.72	1.34	0.47	0.13

^*

Σ_D: Traversed Distance, ϵ: Error Threshold, Σ_T : Traversal Time.