Occupancy Grid Metrics

Metrics to evaluate the quality of the Occupancy Grid Prediction Algorithms. Code is compatible with Python 3.7.

Metrics used:

• Image Similarity (IS)
• Mean Square Error (MSE)
• Structural Similarity Index Measure (SSIM)

Packages required:

• math
• numpy
• scikit-image

References:

• Birk, A. and Carpin, S., 2006. Merging occupancy grid maps from multiple robots. Proceedings of the IEEE, 94(7), pp.1384-1397.