Evaluating the Performance of Robot Mapping Systems

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“Evaluating the Performance of Robot Mapping Systems” by E. Olson and M. Kaess. In Workshop on Good Experimental Methodology in Robotics, 2009.

Abstract

Localization and mapping are essential capabilities of virtually all mobile robots. These topics have been the focus of a great deal of research, but it is not always easy to tell which methods are best. This paper discusses performance evaluation for an important sub-problem of robot mapping, map optimization. We explore aspects underlying the evaluation of map optimization such as the quality of the result and computational complexity. For each aspect we discuss evaluation metrics and provide specific recommendations.

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BibTeX entry:

@inproceedings{Olson09gem,
   author = {E. Olson and M. Kaess},
   title = {Evaluating the Performance of Robot Mapping Systems},
   booktitle = {Workshop on Good Experimental Methodology in Robotics},
   year = {2009}
}