IPIN competition 2016 - Track 4 Sponsored by Indoor Mobile Robot Positioning http://asti.es/en/ Chairs: Mª Carmen Pérez Cristina Losada Co-Chairs: Felipe Espinosa Javier Macias-Guarasa International Conference on Indoor Positioning and Indoor Navigation ] organised by EvAAL
TRACK 4 PRES ENTATION GOAL: est imate the traj ectory followed by a mobile robot along a predetermined track inside an indoor area. COMPETITION S ET-UP: Robot: EAS YBOT of AS TI 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 0.34m in the middle of the robot. 1.64m No possibility of interaction with the mobile robot. 0.52m The traj ectory (ground truth) is not able to be seen for competitors.
TRACK 4 PRES ENTATION COMPETITION S ET-UP: Navigation area: 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). Strut profiles Test duration: 3-4 minutes. Two loops. Order of participation by drawing lots.
TRACK 4 PRES ENTATION Ground truth: 6 5 4 3 Participants have to 2 report the traj ectory: X coordinate (m) X coordinate (mm) 1 Y coordinate (mm) 0 Timestamp (ms) -1 Minimum frame-rate: 0.1s -2 -3 -4 -5 -6 4 3 2 1 0 Y coordinate (m)
TRACK 4 PRES ENTATION Robot path Estimated path Euclidean distance Evaluation method: 4 Y coordinate (m) 3 2 1 0 -6 -5 -4 -3 -2 -1 0 1 2 3 4 5 6 X coordinate (m) 100 90 80 172 mm Euclidian distance between the estimated 70 positions and the ground truth. % of measurements 60 75% The order of the measurements is 50 considered. 40 30 Final scores are computed considering the third quartile (CDF at 75% ). 20 10 0 0 200 400 600 800 1000 Error (mm)
Competitors of Track 4 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. 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 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 on Encoded Beacons ” , Electronics Department, University of Alcalá. 100 90 80 4 70 % of measurements 60 Y coordinate (m) 3 50 2 40 30 1 20 0 10 0 0 200 400 600 800 1000 -6 -5 -4 -3 -2 -1 0 1 2 3 4 5 6 Error (mm) X coordinate (m)
Competitors of Track 4- Out of Competition R. Nieto, E. S antiso, P . López, M. Martínez, F . Espinosa. “ Laser scanner network for indoor positioning and tracking ” , Electronics Department, University of Alcalá. 100 90 80 70 % of measurements 4 60 Y coordinate (m) 3 50 40 2 30 1 20 0 10 0 0 200 400 600 800 1000 -6 -5 -4 -3 -2 -1 0 1 2 3 4 5 6 Error (mm) X coordinate (m)
RANKING 4 Y coordinate (m) 3 2 1 0 -6 -5 -4 -3 -2 -1 0 1 2 3 4 5 6 X coordinate (m) 4 Y coordinate (m) 3 2 1 0 -6 -5 -4 -3 -2 -1 0 1 2 3 4 5 6 X coordinate (m)
RANKING Cumulative Distribution Function of the Euclidian error 1 0.9 X1 X2 0.8 106 mm 311 mm 0.7 0.6 0.5 0.4 0.3 0.2 0.1 0 0 100 200 300 400 500 600 700 800 900 1000 Error (mm) Participant CDF 75% Average Error X1 106mm 80.12mm X2 311mm 220.46mm
THE WINNER 1500€ cash prize CDF(75%)=106mm Janis Tiemann, Fabian Eckermann, and Christian Wietfled
Recommend
More recommend
