Hi, I'm currently writing my master thesis in fields Robotics and SLAM.
For the similarity between Ground Truth and SLAM map, I used the Registration Estimator app from Matlab(for the Alignment of both Maps)
I tried to calculate the Hausdorff distance between two Maps, but I didn't find any useful tools or code to do that?
It is possible to do it manually, so that i choose 2 point a and b from image A and Image B.
thank you :)
This may do the trick for you: https://it.mathworks.com/matlabcentral/fileexchange/26738-hausdorff-distance
Thank you Vito Antonio Nardi , I have tried this code, but I don't know how to choose the points form image A and B. can you pls show me how to calculate the DH(image A, image B) with this code using the image in attachment.
Thank you
Sorry for late reply. Hausdorff distance is defined between subsets. Though one of the subsets can contain a single point. It is useful to compute the similarity among images.
I don't know precisely what you mean to find, but you can convert these images to grayscale (averaging their color layers), then to row vectors (using something like variable1 = double(reshape(image_in_grayscale,[],1)); ), finally using that library on file exchange.
My results are:
- Ground-Truth.png Hector-SLAM.jpg = 252
- rigidHector.PNG Hector-SLAM.jpg = 252
- Ground-Truth.png rigidHector.PNG = 69
though there may be a flaw in my problem definition.
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