Quality Evaluation of the Occupancy Grids without Ground Truth Maps

Ilze Andersone

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Paper

Quality Evaluation of the Occupancy Grids without Ground Truth Maps

Topics: Cooperation and Coordination; Neural Networks; Robot and Multi-Robot Systems

In Proceedings of the 12th International Conference on Agents and Artificial Intelligence - Volume 1: ICAART, 319-326, 2020 , Valletta, Malta

Author: Ilze Andersone

Affiliation: Riga Technical University, Kalku Street 1, Riga, Latvia

Keyword(s): Robot Map Merging, Multi-robot Mapping, Occupancy Grid Maps, Convolutional Neural Network.

Abstract: Robot map merging is an important task in mobile multi-robot systems to facilitate cooperation and higher performance. Map merging has been extensively researched in recent years, but little attention has been paid to the merging of maps that have different quality levels. In this paper a method is proposed that allows the quality evaluation of occupancy grid maps without the need for ground truth maps. The method uses Convolutional Neural Network (CNN) for map fragment classification and can be used for overall map quality evaluation as well as for evaluation of map regions, which is especially useful for map merging purposes.

CC BY-NC-ND 4.0

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Paper citation in several formats:

Andersone, I. (2020). Quality Evaluation of the Occupancy Grids without Ground Truth Maps. In Proceedings of the 12th International Conference on Agents and Artificial Intelligence - Volume 1: ICAART; ISBN 978-989-758-395-7; ISSN 2184-433X, SciTePress, pages 319-326. DOI: 10.5220/0009175503190326

@conference{icaart20,
author={Ilze Andersone},
title={Quality Evaluation of the Occupancy Grids without Ground Truth Maps},
booktitle={Proceedings of the 12th International Conference on Agents and Artificial Intelligence - Volume 1: ICAART},
year={2020},
pages={319-326},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0009175503190326},
isbn={978-989-758-395-7},
issn={2184-433X},
}

TY - CONF

JO - Proceedings of the 12th International Conference on Agents and Artificial Intelligence - Volume 1: ICAART
TI - Quality Evaluation of the Occupancy Grids without Ground Truth Maps
SN - 978-989-758-395-7
IS - 2184-433X
AU - Andersone, I.
PY - 2020
SP - 319
EP - 326
DO - 10.5220/0009175503190326
PB - SciTePress