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@incollection{LNAI11-piyush,
  author = {Piyush Khandelwal and Peter Stone},
  title = {A Low Cost Ground Truth Detection System Using the Kinect},
  booktitle= "{R}obo{C}up-2011: Robot Soccer World Cup {XV}",
  Editor={Thomas Roefer and Norbert Michael Mayer and Jesus Savage and Uluc Saranli},
  Publisher="Springer Verlag",
  address="Berlin",
  year="2012",
  series="Lecture Notes in Artificial Intelligence",
  abstract = {
    Ground truth detection systems can be a crucial step in evaluating and
      improving algorithms for self-localization on mobile robots. Selecting a
      ground truth system depends on its cost, as well as on the detail and
      accuracy of the information it provides. In this paper, we present a low
      cost, portable and real-time solution constructed using the Microsoft
      Kinect RGB-D Sensor. We use this system to find the location of robots and
      the orange ball in the Standard Platform League (SPL) environment in the
      RoboCup competition. This system is fairly easy to calibrate, and does not
      require any special identifiers on the robots. We also provide a detailed
      experimental analysis to measure the accuracy of the data provided by this
      system. Although presented for the SPL, this system can be adapted for use
      with any indoor structured environment where ground truth information is
      required.
  },
}