Table 2.

List of Gmapping parameters.

Parameter	Description	Range	Default Value
minimumScore	Minimum score for considering the outcome of the scan matching good	0–50	50
iterations	The number of iterations of the scanmatcher	5–10	5
lsigma	The sigma of a beam used for likelihood computation	0.075–1.500	0.075
ogain	Gain to be used while evaluating the likelihood, for smoothing the resampling effects	3.0–10.0	3.0
resampleTreshold	The Neff based resampling threshold	0.0–0.5	0.5
particles	Number of particles in the filter	30–100	30