Performance evaluation in obstacle avoidance

Clint Nous, Roland Meertens, Christophe De Wagter, Guido De Croon

Research output: Chapter in Book/Conference proceedings/Edited volumeConference contributionScientificpeer-review

6 Citations (Scopus)


No quantitative procedure currently exists to evaluate the obstacle avoidance capabilities of robotic systems. Such an evaluation method is not only needed to compare different avoidance methods, but also to determine the operational limits of autonomous systems. This work proposes an evaluation framework which can find such limits. The framework comprises two types of tests: detection tests and avoidance tests. For each type, both environment and performance metrics need to be defined. For detection tests such metrics are well known, but for avoidance tests such metrics are not readily available. Therefore a new set of metrics is proposed. The framework is applied to a UAV that uses stereo vision to detect obstacles. Three different avoidance methods are compared in environments of varying difficulty.

Original languageEnglish
Title of host publicationIROS 2016 - 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems
PublisherInstitute of Electrical and Electronics Engineers (IEEE)
Number of pages6
ISBN (Electronic)978-1-5090-3762-9
Publication statusPublished - 28 Nov 2016
Event2016 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2016 - Daejeon, Korea, Republic of
Duration: 9 Oct 201614 Oct 2016


Conference2016 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2016
Abbreviated titleIROS 2016
Country/TerritoryKorea, Republic of
Internet address


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