0
$\begingroup$

Rosanswers logo

Hello

I would like to know how to evaluate the estimated pose of the hector mapping. Im using IMU and Laser range finder as a sensor package. So, is there any method to valid/evaluate the performance of the estimated pose by hector_mapping. How to know if the estimated pose is accurate?? Any explicit or implicit method of the evaluattion of the hector_mapping pose???

Thanks


Originally posted by Astronaut on ROS Answers with karma: 330 on 2012-12-17

Post score: 0

$\endgroup$

2 Answers 2

0
$\begingroup$

Rosanswers logo

There are some approaches to evaluate SLAM algorithms.

The most basic measure is: Make a map an look at it.

There exist some quantitative methods:

  • Some can be found in the program of a SLAM evaluation workshop.

  • You can find some information for using relations as an evaluation measure.

  • The Robocup Rescue League uses mapping fiducials to see how good a map is.


Originally posted by dornhege with karma: 31395 on 2012-12-17

This answer was ACCEPTED on the original site

Post score: 2


Original comments

Comment by Astronaut on 2012-12-17:
Ok. Thanks. . Just a comment, IS there to find a documentation how the robot pose in Hector_mapping was obtained?? I used the pose of the hector _mapping to obtained other parameters like velocity, so would like to know more about iAlso to understand the relations of the sensor sources and the pose

Comment by Astronaut on 2012-12-17:
My sensor package consist of IMU and laser range finder

Comment by dornhege on 2012-12-18:
Sure, they list the paper on the Wiki page.

$\endgroup$
0
$\begingroup$

Rosanswers logo

A slightly stronger variation of the make a map and look at it method that dornhege described: make a map and overlay it (with the correct scaling) on a blueprint of your building. If you're in a university, you can typically get those from the Facilities and Operations people.

While this is not a quantitative method, it is straightforward and fairly informative.

Here's an example that we've used in a paper:

image description


Originally posted by Ivan Dryanovski with karma: 4954 on 2012-12-17

This answer was NOT ACCEPTED on the original site

Post score: 3


Original comments

Comment by dornhege on 2012-12-17:
That's a good point. For outdoor mapping Google Map -> Canny also works quite well. Fig. 5 in http://ais.informatik.uni-freiburg.de/publications/papers/kuemmerle09auro.pdf gives an example of a canny "map".

$\endgroup$

Your Answer

By clicking “Post Your Answer”, you agree to our terms of service and acknowledge you have read our privacy policy.