What is accuracy of location for each floor condition? Does Evolution Robotics have any measurement data?
Based on experiments in various environments with different floor surfaces and different amounts of clutter, the standard deviation of the position error is estimated as approximately 15cm. The standard deviation of the orientation error in these environments is estimated as approximately 3 degrees. In many environments the accuracy is much better than the above figures indicate, and in a few challenging environments the accuracy is worse. The most challenging environments are these where the floor is very rough at the same time as there is very little clutter/texture. The rough floor surface results in unreliable odometry data and the lack of clutter/texture implies that few visual measurements can be computed that otherwise would compensate for the poor odometry data.
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