NDLI: Using recursive spectral registrations to determine brokenness as measure of structural map errors

Content Provider	IEEE Xplore Digital Library
Author	Birk, A.
Copyright Year	2010
Description	Author affiliation: Dept. of Computer Science, Jacobs University Bremen, 28759, Germany (Birk, A.)
Abstract	There are many common error sources that influence mapping, e.g., salt and pepper noise as well as other effects occurring quite uniformly distributed over the map. On the other hand, there are also errors, which occur very rarely but with severe effects. These errors influence not only the local accuracy but the overall spatial layout of the map. Concrete examples include bump noise in the robot's pose or residual errors in Simultaneous Localization and Mapping (SLAM). Brokenness is presented here to capture one form of structural errors in grid maps. Concretely, brokenness measures the degree with which a map can be partitioned into regions that are locally consistent with ground truth but “off” relative to each other. The concept of brokenness is presented in a formal way and it is shown how it can be computed in an efficient way using recursive spectral registrations. Experimental results show that the metric can indeed be used to automatically determine one structural quality aspect of a map in a quantitative way.
Starting Page	3472
Ending Page	3477
File Size	544685
Page Count	6
File Format	PDF
ISBN	9781424450381
ISSN	10504729
DOI	10.1109/ROBOT.2010.5509322
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2010-05-03
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Simultaneous localization and mapping Robotics and automation Computer errors Entropy Mobile robots Trajectory Noise level USA Councils Noise measurement Computer science
Content Type	Text
Resource Type	Article
Subject	Artificial Intelligence Control and Systems Engineering Electrical and Electronic Engineering Software

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3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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