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Towards a Mobile Robot Localization Benchmark with Challenging Sensordata in an Industrial Environment

  • 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.

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Metadaten
Author:Florian Spieß, Jonas Friesslich, Daniel Bluemm, Fabio Mast, Dmitrij Vinokour, Samuel Kounev, Tobias Kaupp, Norbert Strobel
DOI:https://doi.org/10.1109/ICAR53236.2021.9659355
Parent Title (English):2021 20th International Conference on Advanced Robotics (ICAR)
Document Type:Conference Proceeding
Language:English
Year of publication:2021
Release Date:2023/07/26
Pages/Size:8
First Page:857
Last Page:864
Institutes and faculty:Fakultäten / Fakultät Elektrotechnik
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