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Author:
Schwertfeger, Sören (National Institute of Standards and Technology, Gaithersburg, MD USA)
Jacoff, Adam (National Institute of Standards and Technology, Gaithersburg, MD USA)
Scrapper, Chris (The MITRE Corporation, McLean, VA, USA)
Pellenz, Johannes (University of Koblenz-Landau) (Active Vision Group)
Kleiner, Alexander (University of Freiburg)
Title:
Evaluation of Maps using Fixed Shapes: The Fiducial Map Metric
Publication type:
Conference paper (Refereed)
Language:
English
In:
Proc. of the Int. Workshop on Performance Metrics for Intelligent Systems (PerMIS)
Publisher: NIST
Pages:
344-351
Year of publ.:
2010
URI:
urn:nbn:se:liu:diva-72524
Permanent link:
http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-72524
Subject category:
Robotics
Project:
Artificial Intelligence & Integrated Computer Systems
Abstract(en) :

Mapping is an important task for mobile robots. Assessing the quality of those maps is an open topic. A new approach on map evaluation is presented here. It makes use of artificial objects placed in the environment named "Fiducials". Using the known ground-truth positions and the positions of the fiducials identified in the map, a number of quality attributes can be assigned to that map. Depending on the application domain those attributes are weighed to compute a final score. During the 2010 NIST Response Robot Evaluation Exercise at Disaster City an area was populated with fiducials and different mapping runs were performed. The maps generated there are assessed in this paper demonstrating the Fiducial approach. Finally this map scoring algorithm is compared to other approaches found in literature.

Available from:
2011-11-28
Created:
2011-11-28
Last updated:
2011-12-06
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