RoboCup 2016: Robot World Cup XX by Sven Behnke Raymond Sheh Sanem Sarıel & Daniel D. Lee

Author:Sven Behnke, Raymond Sheh, Sanem Sarıel & Daniel D. Lee
Language: eng
Format: epub
Publisher: Springer International Publishing, Cham

5 Evaluation

Our system has been evaluated on different MAV platforms, e.g., for autonomous outdoor navigation and mapping as shown in Fig. 1. Furthermore, it has been deployed on our mobile manipulation robot Momaro during the DLR SpaceBot Camp 2015 and the DARPA Robotics Challenge as shown in Fig. 3. In our previous work [16] we evaluated the runtime and registration accuracy of the local mapping and registration system. The evaluation shows that our method is considerably more accurate and efficient than state-of-art methods.

Fig. 3.Results of our mapping system on our mobile manipulation robot Momaro. The data has been acquired during the DRC. Sparse laser scans (a) are aggregated in a local multiresolution grid map (b + c) by registering surfels (d). The resulting allocentric map (e) shows graph structure, consisting of nodes (gray discs) and edges (black lines).

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