Following up with Alexie's post last week, we furthermore show that the simulation of BOEM SLAM algorithm for 1000 sec. The result is the average of 5 trials. The computation times for other algorithm, including optimization based and the EM SLAM, are too large for 1000 sec, but we have the comparison of all algorithms under fairly small time interval.
Another interesting thing is that we can observe that increasing rotation error in dead reckoning. While the error of gyroscope is very small, the rotation error of dead reckoning is often small. However, when the duration is long enough, we can see that the error of dead reckoning is actually increasing, and that of the SLAM algorithm keeps relatively bounded.