SLAM_RESULTS.md

Known Data Association

Error between Odometry and Ground Truth:

x_error: 0.442805081606 y_error: 0.368803560734 theta_error: 0.879850745201

Error between EKF SLAM and Ground Truth:

x_error: 7.48365755499e-06 y_error: 0.00057053467026 theta_error: 0.494665533304

Noise: 0.001

Detection Radius: 1.0 m

Note that the code no longer supports unknown data association, and the reason for the jittery performance was later discovered to be related to my wheel encoders update.

The below screenshot shows unknown data association but with the Gazebo-read landmarks for comparison.

Unknown Data Association

Error between Odometry and Ground Truth:

x_error: 0.0280208941549 y_error: 0.291656583548 theta_error: 0.262606918812

Error between EKF SLAM and Ground Truth:

x_error: 0.0360223278403 y_error: 0.00010442571894 theta_error: 0.280603200197

LIDAR Noise: 0.001