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An Inexpensive Method for Evaluating the Localization Performance of a Mobile Robot Navigation System

Harsha Kikkeri, Gershon Parent, Mihai Jalobeanu, and Stan Birchfield

Abstract

We propose a method for evaluating the localization accuracy of an indoor navigation system in arbitrarily large environments. Instead of using externally mounted sensors, as required by most ground-truth systems, our approach involves mounting only landmarks consisting of distinct patterns printed on inexpensive foam boards. A pose estimation algorithm computes the pose of the robot with respect to the landmark using the image obtained by an on-board camera. We demonstrate that such an approach is capable of providing accurate metric estimates of a mobile robot's position and orientation with respect to the landmarks in arbitrarily-sized environments over arbitrarily-long trials. Furthermore, because the approach involves minimal outfitting of the environment, we show that only a small amount of setup time is needed to apply the method to a new environment. Experiments involving a state-of-the-art navigation system demonstrate the ability of the method to facilitate accurate localization measurements over arbitrarily long periods of time.

Details

Publication typeInproceedings
PublisherIEEE International Conference on Robotics and Automation (ICRA)
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