Performance Evaluation of Temporal Range Registration for Unmanned Vehicle Navigation

Abstract

In this paper, we evaluate the performance of an iterative registration algorithm for position estimation of Unmanned Ground Vehicles (UGVs) operating in unstructured environments. Field data obtained from trials on UGVs traversing undulating outdoor terrain is used to quantify the performance of the algorithm in producing continual position estimates. These estimates are then compared with those provided by ground truth to facilitate the performance evaluation of the algorithm. Additionally, we propose performance measures for assessing the quality of correspondences. These measures, collectively, provide an indication of the quality of the correspondences thus making the registration algorithm more robust to outliers as spurious matches are not used in computing the incremental transformation.

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Document Details

Document Type
Technical Report
Publication Date
Aug 01, 2004
Accession Number
ADA515737

Entities

People

  • E. Messina
  • R. Madhavan

Organizations

  • National Institute of Standards and Technology

Tags

Communities of Interest

  • Autonomy
  • Materials and Manufacturing Processes
  • Space

DTIC Thesaurus Topics

  • Aircrafts
  • Algorithms
  • Collision Avoidance
  • Data Sets
  • Dead Reckoning
  • Environment
  • Ground Vehicles
  • Kalman Filters
  • Navigation
  • Test And Evaluation
  • Uncertainty
  • Unmanned
  • Unmanned Aerial Vehicles
  • Unmanned Ground Systems
  • Unmanned Ground Vehicles
  • Unmanned Vehicles
  • Vehicles

Fields of Study

  • Computer science

Readers

  • Computational Modeling and Simulation
  • Computer Vision.
  • Robotics and Automation.

Technology Areas

  • Autonomy