Table 6.

Comparion in Position Error-Reference and EPBCM.

Reference Position	${\mathit{X}}_{\mathit{True}}$ Meters	${\mathit{Y}}_{\mathit{True}}$ Meters	${\mathit{X}}_{\mathit{EPBCM}}$ Meters	${\mathit{Y}}_{\mathit{EPBCM}}$ Meters	Position Error
Elevator Area	6	1.2	6.06	1.26	0.08
Conference Room	3	1.9	3.11	1.89	0.11
Stairs Area	10	2.4	10.32	2.36	0.32
Mobile Computing Lab	1	1	1.01	1.005	0.01
Networking Lab	15	3.74	15.65	3.66	0.65
Rest Area	20	5.32	20.11	5.4	0.14