Accuracy Measures

• No Collision Rate (NCR): Measures the percentage of times the UAV successfully navigates without hitting the side walls over the total number of trials.
• Full Flight Rate (FFR δ ): Measures the percentage of times the UAV collides the side walls, yet successfully navigates the corridor without ceasing its motion, over the total number of trials, depending on a threshold δ equals to number of collisions with the side walls for a single trial. Accordingly, we define the following performance metrics:
  1. FFR 2 : The percentage of trials where δ ≤ 2
  2. FFR 5 : The percentage of trials where δ ≤ 5
  3. FFR 5+ : The percentage of trials where δ > 5
• Obstacle Avoidance Rate (OAR): Measures the percentage of times the UAV successfully detects the front-wall at the end of the corridor and ceases its motion over the total number of trials.

References

[1] C. Bills, J. Chen, and A. Saxena, “Autonomous MAV flight in indoor environments using single image perspective cues,” in IEEE international conference on Robotics and Automation (ICRA). Shanghai, China: IEEE, 2011, pp. 5776–5783, doi: 10.1109/ICRA.2011.5980136.

[2] A. Lioulemes, G. Galatas, V. Metsis, G. L. Mariottini, and F. Makedon, “Safety challenges in using AR.drone to collaborate with humans in indoor environments,” in International Conference on Pervasive Technologies Related to Assistive Environments. Rhodes, Greece: ACM, 2014, pp. 33–36, doi: 10.1145/2674396.2674457.