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Objective Error Criterion for Evaluation of Mapping Accuracy Based on Sensor Time-of-Flight Measurements
Department of Electrical and Electronics Engineering, Bilkent University, Bilkent 06800 Ankara, Turkey
Received: 24 September 2008; in revised form: 2 December 2007 / Accepted: 2 December 2008 / Published: 15 December 2008
Abstract: An objective error criterion is proposed for evaluating the accuracy of maps of unknown environments acquired by making range measurements with different sensing modalities and processing them with different techniques. The criterion can also be used for the assessment of goodness of fit of curves or shapes fitted to map points. A demonstrative example from ultrasonic mapping is given based on experimentally acquired time-of-flight measurements and compared with a very accurate laser map, considered as absolute reference. The results of the proposed criterion are compared with the Hausdorff metric and the median error criterion results. The error criterion is sufficiently general and flexible that it can be applied to discrete point maps acquired with other mapping techniques and sensing modalities as well.
Keywords: mapping; map errors; error criterion; range sensing; time-of-flight measurements; ultrasonic sensing; laser range finders; autonomous robots; Hausdorff metric; median error
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Barshan, B. Objective Error Criterion for Evaluation of Mapping Accuracy Based on Sensor Time-of-Flight Measurements. Sensors 2008, 8, 8248-8261.
Barshan B. Objective Error Criterion for Evaluation of Mapping Accuracy Based on Sensor Time-of-Flight Measurements. Sensors. 2008; 8(12):8248-8261.
Barshan, Billur. 2008. "Objective Error Criterion for Evaluation of Mapping Accuracy Based on Sensor Time-of-Flight Measurements." Sensors 8, no. 12: 8248-8261.