Conflict Metric as a Measure of Sensing Quality
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This paper shows that the Con metric from Dempster-Shafer theory is a good indicator of sensing quality, where an increase in the conflict metric value correlates with a decrease in map quality (at p 0.05). Two sets of experiments were conducted. In one, sonar data were gathered from a Nomad 200 robot operating in typical indoor hallways. Another used sonars on an RWI Urban robot in a confined, irregular tunnel built from eight different construction materials. For each set, an occupancy grid map was built and evaluated through a quantitative comparison with the ground truth. It is expected that the results of this study will generalize not only to other sensors and multi-sensor fusion, but any application where consistency can be assumed. It also contributes a design for an inexpensive reconfigurable confined space testbed. 2005 IEEE.
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Proceedings of the 2005 IEEE International Conference on Robotics and Automation