**4. Results**

To evaluate the feasibility of our approach, we conducted a series of experiments, using a simulation environment, as well as analyzing real-world data collected by a UAV. Information gathered in both approaches was processed offline, with software developed in MATLAB. We aimed at comparing five gating and weighting approaches to the particlefilter SLAM problem:


However, the significantly poorer performance of the last two methods led to their exclusion from the undertaken evaluation.
