Example images in the map_images folder, raw data in the data folder, python script which plots the data
#mapping_error.py
Script takes .csv file(s) with distances measured on the built map under "-m" argument; single file with ground truth measurements under "-g" argument.
measurement .csv structure:
| ticks | 1-2 | 1-3 | ... |
|---|---|---|---|
| map no1 | 10.2 | 15.8 | ... |
| map no2 | 10.4 | 15.1 | ... |
| . | 10.1 | 15.6 | ... |
| . | 10.8 | 15.7 | ... |
| . | 10.0 | 15.8 | ... |
Graph shows mean values of the each distance of each file. For each mean value "1-alpha" range is drawn and it is the range outside of which error will appear with "alpha" probability.
An example of calling python script:
python script.py -m data/FER_gmapping.csv data/FER_gmapping_wpm.csv data/FER_cartographer.csv -g data/FER_ground_truth.csv
Script is used for SLAM algorithms evaluation in the conference paper https://link.springer.com/chapter/10.1007/978-3-319-70833-1_2.