Evaluating the Performance of Map Optimization Algorithms

Edwin Olson and Michael Kaess
Workshop Paper, Workshop on Good Experimental Methodology in Robotics, January, 2009

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Localization and mapping are essential capabilities of virtually all mobile robots. These topics have been the focus of a great deal of research, but it is not always easy to tell which meth- ods are best. This paper discusses performance evaluation for an important sub-problem of robot mapping, map optimization. We explore aspects underlying the evaluation of map optimization such as the quality of the result and computational complexity. For each aspect we discuss evaluation metrics and provide specific recommendations.

author = {Edwin Olson and Michael Kaess},
title = {Evaluating the Performance of Map Optimization Algorithms},
booktitle = {Workshop on Good Experimental Methodology in Robotics},
year = {2009},
month = {January},
} 2019-06-26T09:41:11-04:00