Authors:
Antonio Ruiz-Mayor
;
Gracián Triviño
and
Gonzalo Bailador
Affiliation:
Universidad Politécnica de Madrid, Spain
Keyword(s):
Robot localization, pose estimation, performance metric, benchmark, prediction-correction.
Related
Ontology
Subjects/Areas/Topics:
Informatics in Control, Automation and Robotics
;
Mobile Robots and Autonomous Systems
;
Robot Design, Development and Control
;
Robotics and Automation
Abstract:
This paper focus on the problem of how to measure in a reproducible way the localization precision of a
mobile robot. In particular localization algorithms that match the classic prediction-correction model are
considered. We propose a performance metric based on the formalization of the error sources that affect the pose estimation error. Performance results of a localization algorithm for a real mobile robot are presented. This metric fulfils at the same time the following properties: 1) to effectively measure the estimation error of a pose estimation algorithm, 2) to be reproducible, 3) to clearly separate the contribution of the correction part from the prediction part of the algorithm, and 4) to make easy the algorithm performance analysis respect to the great number of influencing factors. The proposed metric allows the validation and evaluation of a localization algorithm in a systematic and standard way, reducing workload and design time.