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Improved algorithm validity proof.
| Number of Particles | Algorithm | Mean Localization Accuracy Error/M | RMSE of Road Sign Estimation (m) |
|---|---|---|---|
| 20 | FastSLAM2.0 | 3.0535 | 4.1399 |
| GFA-FastSLAM2.0 | 2.9060 | 3.3545 | |
| LSO-FastSLAM2.0 | 2.3025 | 2.2837 | |
| 50 | FastSLAM2.0 | 2.7718 | 3.2106 |
| GFA-FastSLAM2.0 | 2.3629 | 2.5990 | |
| LSO-FastSLAM2.0 | 2.0470 | 2.2837 | |
| 80 | FastSLAM2.0 | 2.6843 | 2.9199 |
| GFA-FastSLAM2.0 | 1.7504 | 1.9072 | |
| LSO-FastSLAM2.0 | 1.2745 | 1.3762 | |
| 100 | FastSLAM2.0 | 2.5907 | 2.8538 |
| GFA-FastSLAM2.0 | 1.3693 | 1.6422 | |
| LSO-FastSLAM2.0 | 1.1745 | 1.3279 |
