liu.seSearch for publications in DiVA
Change search
ReferencesLink to record
Permanent link

Direct link
Evaluation of Maps using Fixed Shapes: The Fiducial Map Metric
National Institute of Standards and Technology, Gaithersburg, MD USA.
National Institute of Standards and Technology, Gaithersburg, MD USA.
The MITRE Corporation, McLean, VA, USA.
University of Koblenz-Landau. (Active Vision Group)
Show others and affiliations
2010 (English)In: Proc. of the Int. Workshop on Performance Metrics for Intelligent Systems (PerMIS), NIST , 2010, 344-351 p.Conference paper (Refereed)
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.

Place, publisher, year, edition, pages
NIST , 2010. 344-351 p.
National Category
URN: urn:nbn:se:liu:diva-72524OAI: diva2:459999
Artificial Intelligence & Integrated Computer Systems
Available from: 2011-11-28 Created: 2011-11-28 Last updated: 2011-12-06

Open Access in DiVA

fulltext(1872 kB)293 downloads
File information
File name FULLTEXT01.pdfFile size 1872 kBChecksum SHA-512
Type fulltextMimetype application/pdf

Search in DiVA

By author/editor
Kleiner, Alexander

Search outside of DiVA

GoogleGoogle Scholar
Total: 293 downloads
The number of downloads is the sum of all downloads of full texts. It may include eg previous versions that are now no longer available

Total: 40 hits
ReferencesLink to record
Permanent link

Direct link