Assess the performance of the localization algorithm.
| Associated Requirements | Untitled (https://heathered-english-a1d.notion.site/b08b613dbed9452aafc2267af783146b) |
|---|---|
| Equipment | Stretch RE1 |
| Elements | |
| Personnel | Lead: |
| Location | AI Makerspace, Tepper School of Business |
Ensure that the room in which the robot is navigating has been mapped and that the map has been loaded on the robot.
Select 10 different locations of interest in the testing environment. Obtain their locations (x, y) and mark the ground using coloured cellophane tape. This location is obtained using a traditional tape measure with respect to other local objects near the location of interest.
Start the robot and home it.
Enable the localization algorithm node on the robot.
From an arbitrary location (that is not the location of interest), teleoperate the robot to each of the locations of interest sequentially, pausing at each location for a duration of 10 seconds and noting down the estimated localization coordinates.
Kill the script and turn the robot off.
The average L2 norm between the true and estimated localization coordinates should be less than 25cms.
Date of Completion: February 28, 2023