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dc.contributor.authorBarshan, B.en_US
dc.date.accessioned2016-02-08T10:06:12Z
dc.date.available2016-02-08T10:06:12Z
dc.date.issued2008en_US
dc.identifier.issn14248220
dc.identifier.urihttp://hdl.handle.net/11693/22895
dc.description.abstractAn objective error criterion is proposed for evaluating the accuracy of maps of unknown environments acquired by making range measurements with different sensing modalities and processing them with different techniques. The criterion can also be used for the assessment of goodness of fit of curves or shapes fitted to map points. A demonstrative example from ultrasonic mapping is given based on experimentally acquired time-of-flight measurements and compared with a very accurate laser map, considered as absolute reference. The results of the proposed criterion are compared with the Hausdorff metric and the median error criterion results. The error criterion is sufficiently general and flexible that it can be applied to discrete point maps acquired with other mapping techniques and sensing modalities as well.en_US
dc.language.isoEnglishen_US
dc.source.titleSensorsen_US
dc.relation.isversionof10.3390/s8128248en_US
dc.subjectAutonomous robotsen_US
dc.subjectError criterionen_US
dc.subjectHausdorff metricen_US
dc.subjectLaser range findersen_US
dc.subjectMap errorsen_US
dc.subjectMappingen_US
dc.subjectMedian erroren_US
dc.subjectRange sensingen_US
dc.subjectTime-of-flight measurementsen_US
dc.subjectUltrasonic sensingen_US
dc.subjectError criterionen_US
dc.subjectHausdorff metricen_US
dc.subjectLaser range findersen_US
dc.subjectMedian errorsen_US
dc.subjectRange sensingen_US
dc.subjectTime of flight measurementsen_US
dc.subjectUltrasonic sensingen_US
dc.subjectRobotsen_US
dc.subjectMappingen_US
dc.titleObjective error criterion for evaluation of mapping accuracy based on sensor time-of-flight measurementsen_US
dc.typeArticleen_US
dc.departmentDepartment of Electrical and Electronics Engineeringen_US
dc.citation.spage8248en_US
dc.citation.epage8261en_US
dc.citation.volumeNumber8en_US
dc.citation.issueNumber12en_US
dc.identifier.doi10.3390/s8128248en_US


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