二维SLAM质量评价方法

2021 18th International Joint Conference on Computer Science and Software Engineering (JCSSE) Pub Date : 2021-06-30 DOI:10.1109/JCSSE53117.2021.9493845

Natcha Cota, Phatham Loahavilai, Sirawit Yanwicharaporn, P. Phukphan, R. Jintamethasawat, T. Chulapakorn, P. Rattanawan, Cherdsak Kingkan, K. Prasertsuk

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引用次数: 0

摘要

在室内测绘中，二维地图的定量评价是一项重要且具有挑战性的任务。本文介绍了用Google的Cartographer生成的已建二维地图的比较方法。我们重点比较了一组带有IMU和车轮编码器的激光雷达的参考地图在没有地面真实数据的情况下的地图质量，并比较了一组带有IMU、车轮编码器和/或超宽带的激光雷达的地图。本文提出了三个比较地图质量的指标:均方根误差、模糊检测、平移和旋转漂移。研究结果表明，在地图质量方面，一组具有IMU和UWB的激光雷达可以与一组具有IMU和轮毂编码器的激光雷达相媲美。此外，该方法还可进一步用于可行性研究的相对评价。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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Quality Evaluation Method of 2D SLAM

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.

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2021 18th International Joint Conference on Computer Science and Software Engineering (JCSSE)

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