Ground truth

Ground truth for indoor datasetsDecember 17, 2007

As already explained here, indoor datasets from Rawseeds include two kinds of ground truth: executive drawings and robot trajectory. To reconstruct the trajectory of the robot through the explored environment, we used two separate systems:

a system based on industrial cameras, visual tags mounted on the robot, and ad hoc software
a system using a set of [...]

Ground truth for outdoor datasets

As already explained here, outdoor datasets from Rawseeds include two kinds of ground truth: executive drawings and robot trajectory. To reconstruct the trajectory of the robot through the explored environment, we used a high precision RTK (Real Time Kinematics) GPS system. Rawseeds’ RTK-GPS setup was composed of:

a Trimble 5700 GPS receiver with Zephyr GPS antenna, [...]

What is ground truth?

Together with each of the datasets, Rawseeds provides the associated ground truth. This is a set of information describing the real environments explored by the robot, and the trajectory followed by the robot within such environment. Ground truth is used as a reference, against which the results obtained by a Benchmark Solution can be evaluated.
For [...]