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some minor gfx changes

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some minor tex changes
This commit is contained in:
FrankE
2016-02-23 15:51:57 +01:00
parent 8889c4cf83
commit 647073fc44
4 changed files with 51 additions and 39 deletions
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22
tex/chapters/experiments.tex
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@@ -1,5 +1,7 @@
\section{Experiments}
\newcommand{\refSeg}[1]{seg. $#1$}
% introduction
Evaluation took place within all floors (0 to 3) of the
faculty building, each of which about \SI{77}{\meter} x \SI{55}{\meter} in size.
@@ -49,6 +51,8 @@
are omitted from the error calculation to allow the system to somewhat settle its initial state. Even though, the error
during the following few seconds is expected to be much higher than the error when starting with a well known initial
position and heading.
%
The following evaluations will depict the improvements that the prior path knowledge is able to provide,
even when other system parameters are badly chosen.
@@ -73,10 +77,10 @@
% error development over time while walking along a path
\begin{figure}
\input{gfx/eval/error_timed_nexus}
\caption{Development of the error while walking along Path 4 using the Motorola Nexus 6.
When leaving the suggested route (3), the error of \textbf{shortest} path \refeq{eq:transShortestPath}
\caption{Error development while walking along Path 4 using the Motorola Nexus 6.
When leaving the suggested route \refSeg{3}, the error of \textbf{shortest} path \refeq{eq:transShortestPath}
and \textbf{multi}path \refeq{eq:transMultiPath} increases.
The same issues arise when facing multimodalities between two staircases just before the destination (9).
The same issues arise when facing multimodalities between two staircases just before the destination \refSeg{9}.
\commentByFrank{hilft das bold vlt. schon um die legende zu verstehen?}
}
\label{fig:errorTimedNexus}
@@ -85,13 +89,14 @@
\begin{figure}
\input{gfx/eval/path_nexus_detail}
\caption{Detailed path analysis depicting the individual segments of path 4 using \refeq{eq:transMultiPath}.
Their corresponding error can be seen in fig. \ref{fig:errorTimedNexus}. Even though the shortest path
suggested by the system is ignored multiple times ($3'$ and $3''$) our approach is still able to improve
For a better visualisation, the segments are divided using an outline of alternating grey levels.
The corresponding segment-error can be seen in fig. \ref{fig:errorTimedNexus}. Even though the shortest path
suggested by the system is ignored multiple times (\refSeg{3'} and \refSeg{3''}) our approach is still able to improve
the overall localisation error.}
\label{fig:nexusPathDetails}
\end{figure}
%
\newcommand{\refSeg}[1]{$(#1)$}
Fig. \ref{fig:errorTimedNexus} depicts the error for path 4 recorded with the Motorola Nexus 6.
For a better understanding of the following discussion, the path was divided into $10$ individual segments.
@@ -106,6 +111,11 @@
This can be seen at the red area in the upper left corner of fig. \ref{fig:nexusPathDetails} \refSeg{1} and within
segment \refSeg{1} of fig. \ref{fig:errorTimedNexus}.
%
Starting with both, known position and heading, reduced the error by about \SI{15}{\percent} when using prior knowledge and
by \SI{25}{\percent} when omitting prior knowledge. As prior knowledge directs the density towards a known target,
it is able to compensate unknown initial headings which explains the \SI{10}{\percent} difference.
\commentByFrank{bekannter startpunkt getestet und kurz beschrieben}
%
However, as soon as the pedestrian starts moving down the hallway \refSeg{2} the error is reduced dramatically.
Adding prior knowledge centres the density in the middle of the floor, ensures that the heading is directed towards
the shortest path and thus produces even better localisation results.