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[IEEE 2018 15th International Conference on Control, Automation, Robotics and Vision (ICARCV) - Singapore, Singapore (2018.11.18-2018.11.21)] 2018 15th International Conference on Control, Automation, Robotics and Vision (ICARCV) - Map Comparison of Lidar-based 2D SLAM Algorithms Using Precise Ground Truth
摘要： This paper presents a comparative analysis of three most common ROS-based 2D Simultaneous Localization and Mapping (SLAM) libraries: Google Cartographer, Gmapping and Hector SLAM, using a metric of average distance to the nearest neighbor (ADNN). Each library was applied to construct a map using data from 2D lidar that was placed on an autonomous mobile robot. All the approaches have been evaluated and compared in terms of inaccuracy constructed maps against the precise ground truth presented by FARO laser tracker in static indoor environment.
关键词： ground truth,ADNN,lidar,ROS,map comparison,SLAM
更新于2025-09-23 15:23:52
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[Advances in Intelligent Systems and Computing] Image Processing and Communications Challenges 10 Volume 892 (10th International Conference, IP&C’2018 Bydgoszcz, Poland, November 2018, Proceedings) || Reliability of Local Ground Truth Data for Image Quality Metric Assessment
摘要： Image Quality Metrics (IQMs) automatically detect di?erences between images. For example, they can be used to ?nd aliasing artifact in the computer generated images. An obvious application is to test if the costly anti-aliasing techniques must be applied so that the aliasing is not visible to humans. The performance of IQMs must be tested based on the ground truth data, which is a set of maps that indicate the location of artifacts in the image. These maps are manually created by people during so called marking experiments. In this work, we evaluate two di?erent techniques of marking. In the side-by-side experiment, people mark di?erences between two images displayed side-by-side on the screen. In the ?ickering experiment, images are displayed at the same location but are exchanged over time. We assess the performance of each technique and use the generated reference maps to evaluate the performance of the selected IQMs. The results reveal the better accuracy of the ?ickering technique.
关键词： Image quality metrics,Aliasing,Ground truth data,Perceptual experiments
更新于2025-09-23 15:21:01
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[IEEE IGARSS 2018 - 2018 IEEE International Geoscience and Remote Sensing Symposium - Valencia, Spain (2018.7.22-2018.7.27)] IGARSS 2018 - 2018 IEEE International Geoscience and Remote Sensing Symposium - A Dataset with Ground-Truth for Hyperspectral Unmixing
摘要： Spectral unmixing is one of the most important issues of hyperspectral data processing. However, the lack of publicly available dataset with ground-truth makes it difficult to evaluate and compare the performance of unmixing algorithms. In this work, we create several experimental scenes in our laboratory with controlled settings where the pure material spectra and material compositions are known. Lab-made hyperspectral datasets with these scenes are then provided, and mutually validated with typical linear and nonlinear unmixing algorithms.
关键词： unmixing database,spectral unmixing,Hyperspectral imaging,ground-truth
更新于2025-09-10 09:29:36