A confidence measure for segment based maps

Authors:
Rolf Lakaemper
Affiliations:
Temple University, Philadelphia, PA
Venue:
PerMIS '09 Proceedings of the 9th Workshop on Performance Metrics for Intelligent Systems
Year:
2009

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Abstract

Map confidence, or map quality based on regional consistency is an important measure to evaluate the quality of robot maps. It is classically handled analyzing occupancy grids, which is an unnatural choice if the map is not represented by data points, but by line segments. We define a map-confidence measure that is tailored for segment based maps, without leaving the compact data representation by segments. The presented confidence measure is not based on comparison to ground truth data, but evaluates the map (ground truth free) based on map consistency.