A Coverage-Driven Systematic Test Approach for Simultaneous Localization and Mapping

被引：0

作者：

Tasche, Philip ^{[1
]}

Herber, Paula ^{[2
]}

机构：

[1] Univ Twente, Enschede, Netherlands

[2] Univ Munster, Munster, Germany

来源：

2023 IEEE CONFERENCE ON SOFTWARE TESTING, VERIFICATION AND VALIDATION, ICST | 2023年

关键词：

Autonomous Vehicles; Simultaneous Localization and Mapping; Test Automation; Coverage-driven Testing; Input Space Partitioning; SLAM;

D O I：

10.1109/ICST57152.2023.00012

中图分类号：

TP31 [计算机软件];

学科分类号：

081202 ; 0835 ;

摘要：

Simultaneous localization and mapping (SLAM) is a prerequisite for accurate navigation of autonomous vehicles. Although this is often safety-critical, systematic approaches for testing the correctness and accuracy of SLAM algorithms are missing. In this paper, we present an approach for automated and systematic testing of SLAM algorithms. We identify challenging environmental features for SLAM, define coverage criteria that characterize the SLAM problem's input space, and develop a method for automatically generating high-coverage tests. We demonstrate the effectiveness of our approach with a case study on an existing FastSLAM implementation.

引用

页码：25 / 36

页数：12

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