TABLE 5.

RMSE from the localization system’s kidnapped robot tests—permanent.

Innovation approach	RMSE x [m]	RMSE y [m]	RMSE θ [°]
Unsorted	0.006	0.008	0.301
Dist. sort	0.003	0.009	1.803
Unsorted + Mahalanobis	0.006	0.004	0.465
Dist. sort + Mahalanobis	0.007	0.004	1.319