Conflict Metric as a Measure of Sensing Quality Conference Paper uri icon

abstract

  • 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.

name of conference

  • Proceedings of the 2005 IEEE International Conference on Robotics and Automation

published proceedings

  • Proceedings of the 2005 IEEE International Conference on Robotics and Automation

author list (cited authors)

  • Carlson, J., Murphy, R. R., Christopher, S., & Casper, J.

citation count

  • 19

complete list of authors

  • Carlson, Jennifer||Murphy, Robin R||Christopher, Svetlana||Casper, Jennifer

publication date

  • January 2005