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Robustness and safety are crucial properties for the real-world applicationof autonomous vehicles. One of the most critical components of any autonomoussystem is localisation. During the last 20 years there has been significantprogress in this area with the introduction of very efficient algorithms formapping, localisation and SLAM. Many of these algorithms present impressivedemonstrations for a particular domain, but fail to operate reliably withchanges to the operating environment. The aspect of robustness has not receivedenough attention and localisation systems for self-driving vehicle applicationsare seldom evaluated for their robustness. In this paper we propose novelmetrics to effectively quantify localisation robustness with or without anaccurate ground truth. The experimental results present a comprehensiveanalysis of the application of these metrics against a number of well knownlocalisation strategies.

Metrics for the Evaluation of localisation Robustness