A Coverage-Driven Systematic Test Approach for Simultaneous Localization and Mapping

Philip Tasche; Paula Herber

doi:10.1109/ICST57152.2023.00012

A Coverage-Driven Systematic Test Approach for Simultaneous Localization and Mapping

Philip Tasche, Paula Herber

Formal Methods and Tools

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › Academic › peer-review

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Abstract

Simultaneous localization and mapping (SLAM) is a prerequisite for accurate navigation of autonomous vehicles. Although this is often safety- critical, systematic approaches for testing the correctness and accuracy of SLAM algorithms are missing. In this paper, we present an approach for automated and systematic testing of SLAM algorithms. We identify challenging environmental features for SLAM, define coverage criteria that characterize the SLAM problem’s input space, and develop a method for automatically generating high-coverage tests. We demonstrate the effectiveness of our approach with a case study on an existing FastSLAM implementation.

Original language	English
Title of host publication	2023 IEEE 16th International Conference on Software Testing, Verification and Validation
Subtitle of host publication	ICST 2023
Publisher	IEEE
Pages	25-36
Number of pages	12
ISBN (Electronic)	978-1-6654-5666-1
ISBN (Print)	978-1-6654-5667-8
DOIs	https://doi.org/10.1109/ICST57152.2023.00012
Publication status	Published - 2023
Event	16th IEEE International Conference on Software Testing, Verification and Validation Workshops, ICSTW 2023 - Dublin, Ireland Duration: 16 Apr 2023 → 20 Apr 2023 Conference number: 16

Publication series

Name	IEEE International Conference on Software Testing, Verification and Validation Workshops
Publisher	IEEE
ISSN (Print)	2159-4848

Conference

Conference	16th IEEE International Conference on Software Testing, Verification and Validation Workshops, ICSTW 2023
Abbreviated title	ICSTW 2023
Country/Territory	Ireland
City	Dublin
Period	16/04/23 → 20/04/23

Keywords

2024 OA procedure
Autonomous Vehicles
Simultaneous Localization and Mapping
Test Automation
Coverage-driven Testing
Input Space Partitioning

Access to Document

10.1109/ICST57152.2023.00012

ArticleFinal published version, 961 KBLicence: Taverne

Cite this

Tasche, P., & Herber, P. (2023). A Coverage-Driven Systematic Test Approach for Simultaneous Localization and Mapping. In 2023 IEEE 16th International Conference on Software Testing, Verification and Validation: ICST 2023 (pp. 25-36). (IEEE International Conference on Software Testing, Verification and Validation Workshops). IEEE. https://doi.org/10.1109/ICST57152.2023.00012

@inproceedings{d1e9c2e3fadf4f76a913b788a299ff66,

title = "A Coverage-Driven Systematic Test Approach for Simultaneous Localization and Mapping",

abstract = "Simultaneous localization and mapping (SLAM) is a prerequisite for accurate navigation of autonomous vehicles. Although this is often safety- critical, systematic approaches for testing the correctness and accuracy of SLAM algorithms are missing. In this paper, we present an approach for automated and systematic testing of SLAM algorithms. We identify challenging environmental features for SLAM, define coverage criteria that characterize the SLAM problem{\textquoteright}s input space, and develop a method for automatically generating high-coverage tests. We demonstrate the effectiveness of our approach with a case study on an existing FastSLAM implementation.",

keywords = "2024 OA procedure, Autonomous Vehicles, Simultaneous Localization and Mapping, Test Automation, Coverage-driven Testing, Input Space Partitioning",

author = "Philip Tasche and Paula Herber",

year = "2023",

doi = "10.1109/ICST57152.2023.00012",

language = "English",

isbn = "978-1-6654-5667-8",

series = "IEEE International Conference on Software Testing, Verification and Validation Workshops",

publisher = "IEEE",

pages = "25--36",

booktitle = "2023 IEEE 16th International Conference on Software Testing, Verification and Validation",

address = "United States",

note = "16th IEEE International Conference on Software Testing, Verification and Validation Workshops, ICSTW 2023, ICSTW 2023 ; Conference date: 16-04-2023 Through 20-04-2023",

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Tasche, P & Herber, P 2023, A Coverage-Driven Systematic Test Approach for Simultaneous Localization and Mapping. in 2023 IEEE 16th International Conference on Software Testing, Verification and Validation: ICST 2023. IEEE International Conference on Software Testing, Verification and Validation Workshops, IEEE, pp. 25-36, 16th IEEE International Conference on Software Testing, Verification and Validation Workshops, ICSTW 2023, Dublin, Ireland, 16/04/23. https://doi.org/10.1109/ICST57152.2023.00012

A Coverage-Driven Systematic Test Approach for Simultaneous Localization and Mapping. / Tasche, Philip; Herber, Paula.
2023 IEEE 16th International Conference on Software Testing, Verification and Validation: ICST 2023. IEEE, 2023. p. 25-36 (IEEE International Conference on Software Testing, Verification and Validation Workshops).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › Academic › peer-review

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N2 - Simultaneous localization and mapping (SLAM) is a prerequisite for accurate navigation of autonomous vehicles. Although this is often safety- critical, systematic approaches for testing the correctness and accuracy of SLAM algorithms are missing. In this paper, we present an approach for automated and systematic testing of SLAM algorithms. We identify challenging environmental features for SLAM, define coverage criteria that characterize the SLAM problem’s input space, and develop a method for automatically generating high-coverage tests. We demonstrate the effectiveness of our approach with a case study on an existing FastSLAM implementation.

AB - Simultaneous localization and mapping (SLAM) is a prerequisite for accurate navigation of autonomous vehicles. Although this is often safety- critical, systematic approaches for testing the correctness and accuracy of SLAM algorithms are missing. In this paper, we present an approach for automated and systematic testing of SLAM algorithms. We identify challenging environmental features for SLAM, define coverage criteria that characterize the SLAM problem’s input space, and develop a method for automatically generating high-coverage tests. We demonstrate the effectiveness of our approach with a case study on an existing FastSLAM implementation.

KW - 2024 OA procedure

KW - Autonomous Vehicles

KW - Simultaneous Localization and Mapping

KW - Test Automation

KW - Coverage-driven Testing

KW - Input Space Partitioning

U2 - 10.1109/ICST57152.2023.00012

DO - 10.1109/ICST57152.2023.00012

M3 - Conference contribution

SN - 978-1-6654-5667-8

T3 - IEEE International Conference on Software Testing, Verification and Validation Workshops

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EP - 36

BT - 2023 IEEE 16th International Conference on Software Testing, Verification and Validation

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T2 - 16th IEEE International Conference on Software Testing, Verification and Validation Workshops, ICSTW 2023

Y2 - 16 April 2023 through 20 April 2023

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Tasche P, Herber P. A Coverage-Driven Systematic Test Approach for Simultaneous Localization and Mapping. In 2023 IEEE 16th International Conference on Software Testing, Verification and Validation: ICST 2023. IEEE. 2023. p. 25-36. (IEEE International Conference on Software Testing, Verification and Validation Workshops). Epub 2023 May 26. doi: 10.1109/ICST57152.2023.00012

A Coverage-Driven Systematic Test Approach for Simultaneous Localization and Mapping

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Keywords

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