TABLE 3.

Standard deviations from the localization system’s kidnapped robot tests—transient.

Innovation approach	Std. x [m]	Std. y [m]	Std. θ [°]
Unsorted	0.054	0.078	0.15
Dist. sort	0.036	0.056	0.26
Unsorted + Mahalanobis	0.081	0.130	0.17
Dist. sort + Mahalanobis	0.092	0.150	0.24