TOPO-Bench: An Open-Source Topological Mapping Evaluation Framework with Quantifiable Perceptual Aliasing
This work formalizes topological consistency as the fundamental property of topological maps and shows that, under mild assumptions, localization accuracy provides an efficient and interpretable surrogate metric, and introduces the first quantitative measure of dataset ambiguity for fair comparison across environments.
Jia-Ming Wang, Di-Wen Liu, Ji-Zhuo Chen et al.
· IEEE International Conferenc... · 1 citation