objective error criterion for evaluation of mapping accuracy based on sensor time-of-flight measurements客观的映射精度误差准则进行评估基于传感器飞行时间测量.pdfVIP

Sensors 2008, 8, 8248-8261; DOI: 10.3390/s8128248 OPEN ACCESS sensors ISSN 1424-8220 /journal/sensors Article Objective Error Criterion for Evaluation of Mapping Accuracy Based on Sensor Time-of-Flight Measurements Billur Barshan Department of Electrical and Electronics Engineering, Bilkent University, Bilkent 06800 Ankara, Turkey; Tel: +90 312 290 2161; Fax: +90 312 266 4192; E-mail: billur@.tr URL: .tr/billur Received: 24 September 2008; in revised form: 2 December 2008 / Accepted: 2 December 2008 / Published: 15 December 2008 Abstract: An objective error criterion is proposed for evaluating the accuracy of maps of un- known environments acquired by making range measurements with different sensing modali- ties and processing them with different techniques. The criterion can also be used for the as- sessment of goodness of fit of curves or shapes fitted to map points. A demonstrative example from ultrasonic mapping is given based on experimentally acquired time-of-flight measure- ments and compared with a very accurate laser map, considered as absolute reference. The results of the proposed criterion are compared with the Hausdorff metric and the median error criterion results. The error criterion is sufficiently general and flexible that it can be applied to discrete point maps acquired with other mapping techniques and sensing modalities as well. Keywords: mapping, map errors, error criterion, range sensing, time-of-flight measurements, ultrasonic sensing, laser range finders, autonomous robots, Hausdorff metric, median error. 1. In