The graph on left shows the trajectory of the car, in earth's reference frame, during the last 15 seconds. The blue line shows the ground truth data from the positioning system while the orange line is the estimate of the trajectory made by the SLAM algorithm. The gaps in the ground truth data from the positioning system are due to the failure of the latter in returning a position. The black dots show the positioning data used by the SLAM algorithm. The graph on the right shows the behavior of the controller. The stationary circle in the bottom represents the car in the car's reference frame while the other dot represents the target position of the controller, in the car's reference frame.
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