TY - CHAP A1 - Spieß, Florian A1 - Friesslich, Jonas A1 - Bluemm, Daniel A1 - Mast, Fabio A1 - Vinokour, Dmitrij A1 - Kounev, Samuel A1 - Kaupp, Tobias A1 - Strobel, Norbert T1 - Towards a Mobile Robot Localization Benchmark with Challenging Sensordata in an Industrial Environment T2 - 2021 20th International Conference on Advanced Robotics (ICAR) N2 - 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. Y1 - 2021 U6 - https://doi.org/10.1109/ICAR53236.2021.9659355 SP - 857 EP - 864 ER -