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Quantitative Assessment of Robot-generated Maps



Christopher J. Scrapper Jr, Rajmohan Madhavan, Adam S. Jacoff, R Lakaemper, A Censi, Afzal A. Godil, Asim Wagan


Mobile robotic mapping is now considered to be a sufficiently mature field with demonstrated successes in various domains. While there has been much progress made in the development of computationally efficient and consistent mapping schemes, it is still murky at best on how these maps can be evaluated. We are motivated by the absence of an accepted standard for quantitatively measuring the performance of robotic mapping systems against user-defined requirements. It is our belief that the development of standardized methods for quantitatively evaluating existing robotic technologies will improve the utility of mobile robots in already established application areas, such as vacuum cleaning, robot surveillance, and bomb disposal, but will also enable the proliferation and acceptance of such technologies in other emerging markets. This Chapter summarizes our preliminary efforts by bringing together the research community towards addressing this important problem which has ramifications not only from a research perspective but also from consumers', robot manufacturers', and developers' viewpoints.
Performance Evaluation and Benchmarking of Intelligent Systems
Publisher Info
Springer, Norwell, MA


Robotic Mapping, Standard Test Methods, SLAM


Scrapper, C. , Madhavan, R. , Jacoff, A. , Lakaemper, R. , Censi, A. , Godil, A. and Wagan, A. (2009), Quantitative Assessment of Robot-generated Maps, Performance Evaluation and Benchmarking of Intelligent Systems, Springer, Norwell, MA (Accessed May 24, 2024)


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Created October 8, 2009, Updated February 19, 2017