抄録
This paper describes a study of evaluation method for localization by using scan-matching. In outdoor environment such as Tsukuba Challenge 2012, it is accomplished that high-accuracy localization by using a laser scanner scan-matching with occupancy grid maps. However, mis-matching sometimes occurred, and a robot lost its position. To prevent the position error caused by mis-matching, the authors evaluate the scan-matching by two values. One is static matching rate which indicates the aptitude of the environment such as the number of landmarks. The other is dynamic matching rate which indicates the possibility of mis-matching in crowd. In this paper, the evaluation method is discussed in some public area in Tsukuba Challenge 2012 and the availability is shown.
