4) 28 centimeters away from the original position.

5)  The actual pose is slightly more turned from the origianl than the estimated pose. The localization particles dispersed in a cloud of radius ~50.


6) Run1: (-101, -64),  (263,101),   (70,97)
Run2: (-118, -59), (247,305),  (57, 100)
Run3: (-145, -88), (225, 276), (36, 76)
Run4: (-134, -101) (231, 264), (44, 62)
Run5: (-113, -43), (252, 322), (62, 102)

Mean: (53.8, 87.4)
Std. Dev: (13.7, 17.6)

Initial Values (-182, -182),  (225,225)  (0,0)