Work Item
ASTM WK85837

New Test Method for Evaluating Ground and Aerial Response Robot Capabilities: Map Indoor Environments

1. Scope

This test method evaluates the accuracy of maps generated by ground or aerial response robots of indoor environments, either in standard apparatuses or of real-world spaces. The operator maneuvers the robot through an environment to collect mapping data. A series of split-cylinder fiducials are positioned throughout the environment. An accurate ground truth of the environment must be available in order to compare the sUAS map. The ground truth for comparison is a map of the environment that is generated using a more precise method with high con?dence of accuracy (e.g., industrial ground robot, handheld lidar system). An accurate 3D ground truth may be very expensive and/or dif?cult to generate, whereas a 2D map can be more easily gathered (e.g., architectural layout, dimensional measurement). Multiple runs may be conducted in order to change robot batteries if needed. The collected data is downloaded to generate a map; if multiple runs were conducted, multiple maps will be generated for each incremental run (e.g., map of run 1, map or runs 1+2, etc.) and evaluated separately. For maps generated from multiple runs, evaluations should differentiate between automatic alignment of the individual maps and manual alignment performed by an operator.


small unmanned aerial system; suas; ground robot; mapping; gps-denied


No existing standard exists for evaluating the ability of ground or aerial response robots to maneuver indoors through confined spaces and map the environment, despite military and public safety utilizing these systems for such purposes.

The title and scope are in draft form and are under development within this ASTM Committee.


Developed by Subcommittee: E54.09

Committee: E54

Staff Manager: Kevin Shanahan

Work Item Status

Date Initiated: 04-04-2023

Technical Contact: Adam Norton

Item: 000