Pablo Artaza Barrios

Metrics for Evaluating Feature-Based Mapping Performance

In robotic mapping and simultaneous localization and mapping, the ability to assess the quality of estimated maps is crucial. While concepts exist for quantifying the error in the estimated trajectory of a robot, or a subset of the estimated feature locations, the difference between all current estimated and ground-truth features is rarely considered jointly. In contrast to many current methods, this paper analyzes metrics, which automatically evaluate maps based on their joint detection and description uncertainty. In the tracking literature, the optimal subpattern assignment (OSPA) metric provided a solution to the problem of assessing target tracking algorithms and has recently been applied to the assessment of robotic maps. Despite its advantages over other metrics, the OSPA metric can saturate to a limiting value irrespective of the cardinality errors and it penalizes missed detections and false alarms in an unequal manner. This paper therefore introduces the cardinalized optimal linear assignment (COLA) metric, as a complement to the OSPA metric, for feature map evaluation. Their combination is shown to provide a robust solution for the evaluation of map estimation errors in an intuitive manner.

DE LO SOCIAL A LO POLÍTICO EN EL MOVIMIENTO SOCIAL SALITRERO: EL CASO DE LA MANCOMUNAL DE OBREROS DE IQUIQUE, 1900-1909

Resumen es: Este articulo analiza la propuesta de politizacion generada por la Mancomunal de Obreros de Iquique, en el marco del movimiento social salitrero y la cue...

CATEANDO LA PALABRA: LA CONSTRUCCIÓN DE NUEVOS ARCHIVOS SOBRE LA SOCIEDAD DEL SALITRE

espanolLa historia del salitre se comenzo a escribir desde el siglo XIX, utilizandose materiales mas o menos diversos, ubicados tanto en bibliotecas y archivos tradicionales como en archivos personales. Basandose en estas fuentes se escribio, durante mucho tiempo, una historia centrada en reproducir y contextualizar el contenido del hallazgo documental. Posteriormente, en paralelo con el desarrollo de la disciplina historica y junto a los nuevos enfoques teoricos, se registro tanto un aumento como una diversificacion en las fuentes disponibles para el analisis de la industria y sociedad salitreras. Proceso este ultimo que se vio expandido por programas de investigacion historiografica sobre el ciclo de expansion del nitrato que, en su esfuerzo de renovacion tematica y teorica, se plantean nuevos problemas e hipotesis mas audaces que habian quedado excluidos de la historia tradicional del salitre -como la memoria, la vida privada y la microhistoria-, obligando a los investigadores a la tarea de crear archivos nuevos para dar respuestas a esos problemas e hipotesis. En este articulo se analizan dos archivos creados para el estudio de la sociedad del salitre: uno referido a entrevistas de Hombres y Mujeres de la Pampa, y otro a cartas encontradas en los basurales del desierto, denominado Pampa Escrita. EnglishThe History of Nitrate started in the nineteenth century, using more or less diverse materials, located in libraries and in both traditional and private archives. On the basis of these sources a history was written, for a long time, focused on reproducing and contextualizing the content of the documentary find. Subsequently, in parallel to the development of the historic discipline and together with new theoretical approaches, it was registered both an increase and a diversification of the sources available for the analysis of the industry and nitrate societies. Process that was spread by programmes of historiographic research on the expansion cycle of nitrate that, in its effort of thematic and theoretical updating, new problems and more daring hypothesis are arisen that had been excluded from the traditional history of nitrate -such as memory, private life and microhistory-, forcing researchers to create new archives to provide answers to those problems and hypothesis. In this article two archives are analysed created to study the nitrate society: one referred to interviews of Hombres y Mujeres de la Pampa, and the other related to letters found in the garbage dumps of the desert, known as Pampa Escrita.