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    <publishedYear>2021</publishedYear>
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    <language>eng</language>
    <pageFirst>857</pageFirst>
    <pageLast>864</pageLast>
    <pageNumber>8</pageNumber>
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    <title language="eng">Towards a Mobile Robot Localization Benchmark with Challenging Sensordata in an Industrial Environment</title>
    <abstract language="eng">To arrive at a realistic assessment of localization methods in terms of their performance in an industrial environment under various challenging conditions, we provide a benchmark to evaluate algorithms both for individual components as well as multi-sensor systems. For several sensor types, including wheel odometry, RGB cameras, RGB-D cameras, and LIDAR, potential issues were identified. The accuracy of wheel odometry, for example, when there are bumps on the track. For each sensor type, we explicitly chose a track for the benchmark dataset containing situations where the sensor fails to provide adequate measurements. Based on the acquired sensor data, localization can be achieved either using a single sensor information or sensor fusion. To help evaluate the output of associated localization algorithms, we provide a software to evaluate a set of metrics as part of the paper. An example application of the benchmark with state-of-the-art algorithms for each sensor is also provided.</abstract>
    <parentTitle language="eng">2021 20th International Conference on Advanced Robotics (ICAR)</parentTitle>
    <identifier type="doi">10.1109/ICAR53236.2021.9659355</identifier>
    <enrichment key="opus.import.data">@inproceedingsspiess2021towards, title=Towards a Mobile Robot Localization Benchmark with Challenging Sensordata in an Industrial Environment, author=Spieß, Florian and Friesslich, Jonas and Bluemm, Daniel and Mast, Fabio and Vinokour, Dmitrij and Kounev, Samuel and Kaupp, Tobias and Strobel, Norbert, booktitle=2021 20th International Conference on Advanced Robotics (ICAR), pages=857–864, year=2021, organization=IEEE</enrichment>
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    <enrichment key="opus.import.date">2023-06-28T08:18:27+00:00</enrichment>
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    <author>Florian Spieß</author>
    <author>Jonas Friesslich</author>
    <author>Daniel Bluemm</author>
    <author>Fabio Mast</author>
    <author>Dmitrij Vinokour</author>
    <author>Samuel Kounev</author>
    <author>Tobias Kaupp</author>
    <author>Norbert Strobel</author>
    <collection role="institutes" number="fe">Fakultät Elektrotechnik</collection>
    <collection role="Autoren" number="kaupp">Tobias Kaupp</collection>
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