Table 4 The dimension, \(m_0\), \(p_0\) given by the conversion with \(E_\mathrm{max} = 0.01~\%\) and \(m_f, p_f\) for \(E_\mathrm{max}^\mathrm{new} = 1.0~\%\) of the EKF symbols obtained, where \(s\) and \(r\) represent the feature and robot state size, \(v\) and \(f\) the robot and feature position, \(i\) the feature number and \(n\) the total number of features

\(\mu \)

12

22

12

22

\(\mu _v\)

2

25

2

25

\(\mu _f\)

12

25

12

25

\(\Sigma _{vv}\)

16

25

16

25

\(\Sigma _{vf}\)

16

25

16

25

\(\Sigma _{ff}\)

18

25

18

25

\(\Sigma \)

13

24

13

24

\(\alpha \)

–

–

–

–

\(\gamma \)

–

–

–

–

\(u\)

2

25

2

25

\(F\)

5

25

5

25

\(G\)

5

25

5

25

\(Q\)

5

25

5

19

\(H_v\)

6

23

6

19

\(H_{fi}\)

6

25

6

19

\(H\)

6

25

6

19

\(R\)

15

25

15

19

\(W\)

10

24

10

19

\(\nu \)

11

25

11

19

\(z\)

12

25

12

19

\(z_\mathrm{pred}\)

12

25

12

19

\(S\)

15

25

15

19

\(Z_1\)

–

–

–

–

\(Z_2\)

–

–

–

–