Ground truth evaluation of large Urban 6D SLAM
Autor(en): | Wulf, O. Nüchter, A. Hertzberg, J. Wagner, B. |
Stichwörter: | Intelligent robots; Maps; Optical projectors; Robotics, Ground truth data; International conferences; SLAM algorithms, Conformal mapping | Erscheinungsdatum: | 2007 | Enthalten in: | IEEE International Conference on Intelligent Robots and Systems | Startseite: | 650 | Seitenende: | 657 | Zusammenfassung: | In the past many solutions for simultaneous localization and mapping (SLAM) have been presented. Recently these solutions have been extended to map large environments with six degrees of freedom (DoF) poses. To demonstrate the capabilities of these SLAM algorithms it is common practice to present the generated maps and successful loop closing. Unfortunately there is often no objective performance metric that allows to compare different approaches. This fact is attributed to the lack of ground truth data. For this reason we present a novel method that is able to generate this ground truth data based on reference maps. Further on, the resulting reference path is used to measure the absolute performance of different 6D SLAM algorithms building a large urban outdoor map. ©2007 IEEE. |
Beschreibung: | Conference of 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2007 ; Conference Date: 29 October 2007 Through 2 November 2007; Conference Code:73199 |
ISBN: | 9781424409129 | DOI: | 10.1109/IROS.2007.4399026 | Externe URL: | https://www.scopus.com/inward/record.uri?eid=2-s2.0-51349158874&doi=10.1109%2fIROS.2007.4399026&partnerID=40&md5=fbcb9c02f42d0520beb633fae7730ada |
Zur Langanzeige
Seitenaufrufe
9
Letzte Woche
0
0
Letzter Monat
0
0
geprüft am 07.06.2024