Application: uFldHazardMetric

Brief Synopsis:

Receives and grades effectiveness of hazard field reports.

Authors:

  • Michael Benjamin

Groups:

Dependencies:

Distribution:

  • moos-ivp.org

Documentation:

Contact Email:

  • mikerb@mit.edu

Function:

A utility for quickly evaluating a hazardset report; a list of declared hazards and their locations. Evaluating a hazardset report against ground truth and a reward structure is fairly straight-forward, but tedious. This tool performs this operation automatically, and as a MOOS process with the result posted both to the MOOSDB and viewable in the appcast output of uFldHazardMetric. Operation is comprised of a few simple parts: (1) Import a ground-truth hazard field: A ground truth hazard field is a text file listing the location of hazards and hazard-like objects, and their locations. This file also typically includes a search region, a convex polygon containing all listed objects. A uFldHazardMetric configuration parameter names the file. (2) Import a reward structure: A reward structure, consisting of penalties for missed hazards and false alarms, is imported as a set of uFldHazardMetric configuration parameter. (3) Evaluate a hazardset report: A hazardset report is received by MOOS mail and evaluated item by item against the ground truth and reward structure. The results are then posted and rendered. This step is repeated for each received report.

Lines of Code:

  • 598 (with libraries: 42,126)

Files of Code:

  • 5 (with libraries: 364)

Work Years:

  • 0.12 (with libraries: 9.57)