“…Decentralized information filter 3 m * 2 m Decimeter level [12] Optical flow sensor, IMU EKF 6 m * 6 m 0.3 m in mean [13] Ultraviolet LED makers Mutual relative localization 10 m distance Meter level [14] 3D lidar, UWB, IMU EKF Simulation Decimeter level [15] 2D lidar CNN 4 m * 4 m Decimeter level [16] 2D lidar, IMU SLAM 8 m * 8 m 1.0 m for 26 s, 0.5 m for 10 s [17] 2D lidar, IMU Tightly coupled SLAM 60 m corridor Meter level [18] 1D laser, IMU, barometer EKF 5 m * 9 m 0.1 m height accuracy in mean [19] Radar Radar odometry 80 m * 10 m 3.3 m in mean [20] Radar, UWB, IMU EKF 40 m * 40 m 0.8 m in RMS [21] UWB Multilateration 20 m * 30 m, 4 AP 2.0 m in mean [22] UWB TDoA 4 m * 2 m, 4 AP 0.1 m in 75 % [23] UWB, IMU Tightly coupled EKF 19 m * 13 m 0.15 m in mean [24] UWB, monocular camera SLAM 8 m * 8 m 0.23 m in 75 % [25] UWB, RGB-D camera Monte Carlo localization 15 m * 15 m 0.2 m in RMS [26] Ultrasonic Multilateration 4 m * 3 m, 6 AP 0.16 m in RMS [27] Ultrasonic CNN 10 m * 4 m Decimeter level [28] Ultrasonic, time-of-flight camera Multilateration 0.7 m * 0.7 m, 5 AP 0.17 m in median [29] WiFi Fingerprinting 36 m * 17 m, 10 APs 1.7 m in mean [30] WiFi A quasi-taut tether Angle and range-based 2.5 m * 2.5 m 0.37 m in mean * SLAM-simultaneous localization and mapping; 1D/2D/3D-one/two/three-dimensional; EKF-extended Kalman filter; PF-particle filter; CNN-convolution neural network; RGB-D-red-green-blue-depth; RMS-root mean squares; TDoA-time-difference-of-arrival; RFID-radio frequency identification; LED-light-emitting diode; RSS-received signal strength; AP-access point; WiFi-wireless fidelity; BLE-Bluetooth low energy; N/A-not provided.…”