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Performance Evaluation of Temporal Range Registration for Unmanned Vehicle Navigation

Published

Author(s)

Rajmohan (. Madhavan, Elena R. Messina

Abstract

In this paper, 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 is 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. These measures, collectively, 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.
Conference Dates
August 24-26, 2004
Conference Location
Gaithersburg, MD, USA
Conference Title
2004 Performance Metrics for Intelligent Systems (PerMIS) Workshop

Keywords

LADAR/LIDAR Sensors, Mobility, performance measures, Performance Metrics, range images, registration, uncertainty, Unmanned Systems

Citation

Madhavan, R. and Messina, E. (2004), Performance Evaluation of Temporal Range Registration for Unmanned Vehicle Navigation, 2004 Performance Metrics for Intelligent Systems (PerMIS) Workshop, Gaithersburg, MD, USA, [online], https://tsapps.nist.gov/publication/get_pdf.cfm?pub_id=822505 (Accessed April 23, 2024)
Created August 25, 2004, Updated October 12, 2021