In this article, we evaluate the performance of an iterative registration algorithm for position estimation of Unmanned Ground Vehicles (UGVs) operating in unstructured environments. Field data obtained from trials on UGVs traversing undulating outdoor terrain in used to quantify the performance of the algorithm in producing continual position estimates. These estimates are then compared with those provided by ground truth to facilitate the performance evaluation of the algorithm. Additionally we propose performance measures for assessing the quality of correspondences that are crucial to achieving accurate and reliable registration. We describe in detail how these measures, collectively, can provide an indication of the quality of the correspondences thus making the registration algorithm more robust to outliers as spurious matches are not used in computing the incremental transformation.
Citation: Integrated Computer-Aided Engineering
Pub Type: Journals
performance measures, range images, registration, UGV, uncertainty