IPIN competition 2016 - Track 4 Sponsored by Indoor Mobile Robot - - PowerPoint PPT Presentation

Indoor Mobile Robot Positioning

Chairs: Mª Carmen Pérez Cristina Losada Co-Chairs: Felipe Espinosa Javier Macias-Guarasa

]

International Conference

• n Indoor Positioning

and Indoor Navigation

• rganised by EvAAL

IPIN competition 2016 - Track 4

Sponsored by http://asti.es/en/

TRACK 4 PRES ENTATION

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GOAL: est imate the traj ectory followed by a mobile robot along a predetermined track inside an indoor area.

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COMPETITION S ET-UP:

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Robot: EAS YBOT of AS TI

1.64m 0.52m 0.34m

• Magnetic guidance system.
• The robot speed does not exceed

0.5m/ s, but it is not uniform during the traj ectory.

• Reference point t o be localized

in the middle of the robot.

• No possibility of interaction with

the mobile robot.

• The traj ectory (ground truth) is

not able to be seen for competitors.

TRACK 4 PRES ENTATION

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COMPETITION S ET-UP:

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Navigation area:

Strut profiles

• Area 12m x 6m.
• 4 strut profiles where participants can place

their equipment. Adj ustable height up to 315cm.

• No limitation in the number of sensors to be

located in the strut profiles.

• 3

positions provided in advance for calibrating purposes, including the (0,0) of the robot starting point.

• 30 minutes set-up (45min in practice).
• Test duration: 3-4 minutes. Two loops.
• Order of participation by drawing lots.

TRACK 4 PRES ENTATION

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Ground truth:

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1 2 3 4 5 6 1 2 3 4 X coordinate (m) Y coordinate (m) Participants have to report the traj ectory:

• X coordinate (mm)
• Y coordinate (mm)
• Timestamp (ms)
• Minimum frame-rate: 0.1s

TRACK 4 PRES ENTATION

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Evaluation method:

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Euclidian distance between the estimated positions and the ground truth.

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The

• rder
• f

the measurements is considered.

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Final scores are computed considering the third quartile (CDF at 75% ).

200 400 600 800 1000 10 20 30 40 50 60 70 80 90 100

172 mm

75%

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1 2 3 4 5 6 1 2 3 4 X coordinate (m) Y coordinate (m) Robot path Estimated path Euclidean distance

Competitors of Track 4

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Janis Tiemann, Fabian Eckermann and Christian Wietfeld, “ ATLAS - An Open-Source TDOA-based Ultra-Wideband Localization System” , TU Dortmund University, Communication Networks Institute (CNI), Germany.

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Maxim Katkov and S ergey Huba, “ TOPOrtls TPM UWB wireless system”, R&D Dept, TopoR TLS , Belarus/ S andwich, MA, US A.

Competitors of Track 4- Out of Competition

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J. Ureña, J. M. Villadangos, D. Gualda, M. C. Pérez, A. Hernández, J. J. García, A. Jiménez, J. C. García, J. F . Arango, E. Díaz, “ Locate-US: an Ultrasonic Local Positioning System based

• n

Encoded Beacons” , Electronics Department, University of Alcalá.

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1 2 3 4 5 6 1 2 3 4 X coordinate (m) Y coordinate (m) 200 400 600 800 1000 10 20 30 40 50 60 70 80 90 100 Error (mm) % of measurements

Competitors of Track 4- Out of Competition

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• R. Nieto, E. S

antiso, P . López, M. Martínez, F . Espinosa. “ Laser scanner network for indoor positioning and tracking” , Electronics Department, University

• f Alcalá.
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1 2 3 4 5 6 1 2 3 4 X coordinate (m) Y coordinate (m)

200 400 600 800 1000 10 20 30 40 50 60 70 80 90 100 Error (mm) % of measurements

RANKING

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• 2
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1 2 3 4 5 6 1 2 3 4 X coordinate (m) Y coordinate (m)

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1 2 3 4 5 6 1 2 3 4 X coordinate (m) Y coordinate (m)

RANKING

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Cumulative Distribution Function of the Euclidian error

100 200 300 400 500 600 700 800 900 1000 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1

Error (mm)

106 mm 311 mm

X2 X1

Participant CDF 75% Average Error X1 106mm 80.12mm X2 311mm 220.46mm

THE WINNER

1500€ cash prize

Janis Tiemann, Fabian Eckermann, and Christian Wietfled CDF(75%)=106mm