This is our experimental interface and environment. the algorithm's performance was evaluated using the UTIAS multi-robot CL and mapping dataset provided by Leung et al.

Each robot was equipped with a wheel encoder and a monocular camera, measuring linear and rotational velocities at 67 Hz and capturing distance and orientation measurements with other robots and landmarks. The position and orientation were obtained from a 10-camera Vicon motion capture system at 100 Hz, with a positional accuracy of approximately 1 mm.