ResearchBenchmarksData Association Performance Evaluation on Gazebo simulation four-floor aliased worldFollow-63.76KLu[1]-66.636-47.223-27.81-8.397Jun 16, 2016Evaluation ResultsMethodMethodLinksKLuWorst CovarianceModes Countηda[1]config=inferconfig=infer2016.06-63.762.8220BSPconfig=planconfig=plan2016.06-8.675.361329BSPconfig=inferconfig=infer2016.06-4.352.9520DA-BSPconfig=planconfig=plan2016.062.65.482141DA-BSPconfig=inferconfig=infer2016.068.145.08426