Quality Evaluation Method of 2D SLAM

被引：1

作者：

Cota, Natcha ^{[1
]}

Loahavilai, Phatham ^{[2
]}

Yanwicharaporn, Sirawit ^{[1
]}

Phukphan, Piyaphat ^{[1
]}

Jintamethasawat, Rungroj ^{[1
]}

Chulapakorn, Thawatchart ^{[1
]}

Rattanawan, Patharakorn ^{[1
]}

Kingkan, Cherdsak ^{[3
]}

Prasertsuk, Kiattiwut ^{[1
]}

机构：

[1] Natl Elect & Comp Technol Ctr, Spectroscop & Sensing Devices Res Grp, Pathum Thani, Thailand

[2] Tsinghua Univ, Dept Engn Phys, Beijing, Peoples R China

[3] Natl Elect & Comp Technol Ctr, Ind IoT & Automat Res Grp, Pathum Thani, Thailand

来源：

2021 18TH INTERNATIONAL JOINT CONFERENCE ON COMPUTER SCIENCE AND SOFTWARE ENGINEERING (JCSSE-2021) | 2021年

关键词：

LiDAR; SLAM; Mapping; Mapping Evaluation; ACCURACY;

D O I：

10.1109/JCSSE53117.2021.9493845

中图分类号：

TP31 [计算机软件];

学科分类号：

081202 ; 0835 ;

摘要：

A quantitative evaluation of a 2D map is important and becomes a challenging task for indoor survey mapping. The paper presents the method for comparison of built 2D maps generated from Google's Cartographer. We focus on the comparison of map quality without ground truth data between a reference map from a set of LiDAR with IMU and wheel-encoder and compared maps from a set of LiDAR with IMU, wheel-encoder, and/or UWB. Three metrics for comparison the map quality are presented in this paper including RMSE, blur detection, and drifts in translation and rotation. The finding shows that a set of LiDAR with IMU and UWB can be comparable to a set of LiDAR with IMU and wheel-encoder in terms of map quality. Moreover, the proposed method can be further used for the relative evaluation of a feasibility study.

引用

页数：6

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