Design and Performance Evaluation of Self-Localization with Landmarks

The main contribution of this research is that it gives:(1) a rational criterion to select the best self-localizing method for a particular situation, and (2) an appropriate arrangement of the landmarks to minimize the error. In this paper, the authors propose a set of indices to evaluate the accuracy of the self-localizing methods, and the indices are derived from a sensitivity which is defined as the ratio of the localizing error to sensor error. And then, we compare the accuracy of self-localizing a mobile robot with landmarks based on the indices, and propose a rational way to minimize the localizing error.