Consistency test of the EKF-SLAM algorithm. Consistency test of the EKF-SLAM algorithm used in this paper. a) Simulated environment (solid black lines) with the desired path (dashed blue lines). b) Map reconstruction of the environment. The yellow points correspond to raw laser data; solid black segments represent walls of the environment; green circles correspond to corners; red crosses are the beginning and ending points associated with the segments and the blue line is the path travelled by the mobile robot. c) The error in the x--coordinate of the mobile robot is bounded by two times its standard deviation. d) The error in the y--coordinate. e) The error in the orientation of the mobile robot.