Evaluation of maps using fixed shapes: the fiducial map metric

Authors:
Sören Schwertfeger;Adam Jacoff;Chris Scrapper;Johannes Pellenz;Alexander Kleiner
Affiliations:
National Institute of Standards and Technology, Gaithersburg, MD;National Institute of Standards and Technology, Gaithersburg, MD;The MITRE Corporation, McLean, VA;University of Koblenz-Landau, Koblenz, Germany;University of Freiburg, Freiburg, Germany
Venue:
Proceedings of the 10th Performance Metrics for Intelligent Systems Workshop
Year:
2010

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Abstract

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. Those attributes are weighed to compute a final score depending on the application domain. 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.