Objective Error Criterion for Evaluation of Mapping Accuracy Based on Sensor Time-of-Flight Measurements

Sensors

关键词: mapping;    map errors;    error criterion;    range sensing;    time-of-flight measurements;    ultrasonic sensing;    laser range finders;    autonomous robots;    Hausdorff metric;    median error;   

DOI  :  10.3390/s8128248

来源: mdpi

【 摘 要 】

An objective error criterion is proposed for evaluating the accuracy of maps of unknown environments acquired by making range measurements with different sensing modalities and processing them with different techniques. The criterion can also be used for the assessment of goodness of fit of curves or shapes fitted to map points. A demonstrative example from ultrasonic mapping is given based on experimentally acquired time-of-flight measurements and compared with a very accurate laser map, considered as absolute reference. The results of the proposed criterion are compared with the Hausdorff metric and the median error criterion results. The error criterion is sufficiently general and flexible that it can be applied to discrete point maps acquired with other mapping techniques and sensing modalities as well.

【 授权许可】

CC BY   
© 2008 by the author; licensee Molecular Diversity Preservation International, Basel, Switzerland.