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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} \section{Experiments}
\newcommand{\refSeg}[1]{seg. $#1$}
% introduction % introduction
Evaluation took place within all floors (0 to 3) of the 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. 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 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 during the following few seconds is expected to be much higher than the error when starting with a well known initial
position and heading. position and heading.
%
The following evaluations will depict the improvements that the prior path knowledge is able to provide, The following evaluations will depict the improvements that the prior path knowledge is able to provide,
even when other system parameters are badly chosen. even when other system parameters are badly chosen.
@@ -73,10 +77,10 @@
% error development over time while walking along a path % error development over time while walking along a path
\begin{figure} \begin{figure}
\input{gfx/eval/error_timed_nexus} \input{gfx/eval/error_timed_nexus}
\caption{Development of the error while walking along Path 4 using the Motorola Nexus 6. \caption{Error development 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} When leaving the suggested route \refSeg{3}, the error of \textbf{shortest} path \refeq{eq:transShortestPath}
and \textbf{multi}path \refeq{eq:transMultiPath} increases. 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?} \commentByFrank{hilft das bold vlt. schon um die legende zu verstehen?}
} }
\label{fig:errorTimedNexus} \label{fig:errorTimedNexus}
@@ -85,13 +89,14 @@
\begin{figure} \begin{figure}
\input{gfx/eval/path_nexus_detail} \input{gfx/eval/path_nexus_detail}
\caption{Detailed path analysis depicting the individual segments of path 4 using \refeq{eq:transMultiPath}. \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 For a better visualisation, the segments are divided using an outline of alternating grey levels.
suggested by the system is ignored multiple times ($3'$ and $3''$) our approach is still able to improve 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.} the overall localisation error.}
\label{fig:nexusPathDetails} \label{fig:nexusPathDetails}
\end{figure} \end{figure}
% %
\newcommand{\refSeg}[1]{$(#1)$}
Fig. \ref{fig:errorTimedNexus} depicts the error for path 4 recorded with the Motorola Nexus 6. 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. 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 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}. 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. 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 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. the shortest path and thus produces even better localisation results.

2
tex/chapters/grid.tex
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@@ -290,6 +290,8 @@
% %
Hereafter, the simple transition \refeq{eq:transSimple} is combined with a second probability, Hereafter, the simple transition \refeq{eq:transSimple} is combined with a second probability,
downvoting all grid-steps that depart from $\pathRef$. downvoting all grid-steps that depart from $\pathRef$.
To still allow leaving the shortest path, the intensity of the downvoting is controlled via $\mUsePath$,
with $0 < \mUsePath < 1$.
Finally, \refeq{eq:transShortestPath} provides a metric tending towards the reference while Finally, \refeq{eq:transShortestPath} provides a metric tending towards the reference while
still allowing the pedestrian to leave the shortest path: still allowing the pedestrian to leave the shortest path:
% %

58
tex/gfx/eval/paths.eps
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@@ -1,7 +1,7 @@
%!PS-Adobe-2.0 EPSF-2.0 %!PS-Adobe-2.0 EPSF-2.0
%%Title: paths.tex %%Title: paths.tex
%%Creator: gnuplot 5.0 patchlevel 1 %%Creator: gnuplot 5.0 patchlevel 1
%%CreationDate: Sun Feb 21 19:48:40 2016 %%CreationDate: Tue Feb 23 14:42:32 2016
%%DocumentFonts: %%DocumentFonts:
%%BoundingBox: 50 50 302 230 %%BoundingBox: 50 50 302 230
%%EndComments %%EndComments
@@ -441,7 +441,7 @@ SDict begin [
/Author (kazu) /Author (kazu)
% /Producer (gnuplot) % /Producer (gnuplot)
% /Keywords () % /Keywords ()
/CreationDate (Sun Feb 21 19:48:40 2016) /CreationDate (Tue Feb 23 14:42:32 2016)
/DOCINFO pdfmark /DOCINFO pdfmark
end end
} ifelse } ifelse
@@ -4513,11 +4513,9 @@ LC2 setrgbcolor
70 -23 V 70 -23 V
stroke stroke
LCb setrgbcolor LCb setrgbcolor
3.000 UL 1.500 UL
LTb LTb
LT2 0.65 0.16 0.16 C 628 2671 M
LC2 setrgbcolor
0.00 0.00 0.00 C 628 2671 M
543 253 V 543 253 V
270 126 V 270 126 V
186 21 V 186 21 V
@@ -4534,7 +4532,7 @@ stroke
LCb setrgbcolor LCb setrgbcolor
1.500 UL 1.500 UL
LTb LTb
0.60 0.00 0.00 C 1968 1175 M 0.60 0.00 0.47 C 1968 1175 M
74 -25 V 74 -25 V
201 94 V 201 94 V
198 324 V 198 324 V
@@ -4555,7 +4553,7 @@ stroke
LCb setrgbcolor LCb setrgbcolor
1.500 UL 1.500 UL
LTb LTb
0.00 0.00 0.60 C 1068 3213 M 0.00 0.73 0.73 C 1068 3213 M
384 -125 V 384 -125 V
186 21 V 186 21 V
173 -268 V 173 -268 V
@@ -4572,9 +4570,11 @@ LTb
195 0 V 195 0 V
stroke stroke
LCb setrgbcolor LCb setrgbcolor
1.500 UL 3.000 UL
LTb LTb
0.00 0.60 0.00 C 570 2690 M LT2
LC2 setrgbcolor
0.00 0.00 0.00 C 570 2690 M
543 253 V 543 253 V
270 126 V 270 126 V
541 251 V 541 251 V
@@ -7489,29 +7489,29 @@ LCb setrgbcolor
LT2 LT2
LC2 setrgbcolor LC2 setrgbcolor
0.67 0.67 0.67 C LCb setrgbcolor 0.67 0.67 0.67 C LCb setrgbcolor
1.500 UL
LTb
0.65 0.16 0.16 C 882 970 M
195 0 V
stroke
LCb setrgbcolor
1.500 UL
LTb
0.60 0.00 0.47 C 882 750 M
195 0 V
stroke
LCb setrgbcolor
1.500 UL
LTb
0.00 0.73 0.73 C 882 530 M
195 0 V
stroke
LCb setrgbcolor
3.000 UL 3.000 UL
LTb LTb
LT2 LT2
LC2 setrgbcolor LC2 setrgbcolor
0.00 0.00 0.00 C 882 970 M 0.00 0.00 0.00 C 882 310 M
195 0 V
stroke
LCb setrgbcolor
1.500 UL
LTb
0.60 0.00 0.00 C 882 750 M
195 0 V
stroke
LCb setrgbcolor
1.500 UL
LTb
0.00 0.00 0.60 C 882 530 M
195 0 V
stroke
LCb setrgbcolor
1.500 UL
LTb
0.00 0.60 0.00 C 882 310 M
195 0 V 195 0 V
1.000 UP 1.000 UP
stroke stroke

8
tex/gfx/eval/paths.gp
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@@ -20,10 +20,10 @@ set zrange [-300:1600]
splot \ splot \
"data/floors.dat" with lines lc rgb "#aaaaaa" dashtype 3 notitle,\ "data/floors.dat" with lines lc rgb "#aaaaaa" dashtype 3 notitle,\
"data/path1.dat" using (column(1)+70):(column(2)-60):3 with lines lw 3.0 dashtype 3 lc rgb "#000000" title "\\footnotesize{path 1}", \ "data/path1.dat" using (column(1)+70):(column(2)-60):3 with lines lw 1.5 lc rgb "#A52A2A" title "\\footnotesize{path 1}", \
"data/path2.dat" using (column(1)+60):(column(2)+60):3 with lines lw 1.5 lc rgb "#990000" title "\\footnotesize{path 2}",\ "data/path2.dat" using (column(1)+60):(column(2)+60):3 with lines lw 1.5 lc rgb "#990077" title "\\footnotesize{path 2}",\
"data/path3.dat" using (column(1)-30):(column(2)+90):3 with lines lw 1.5 lc rgb "#000099" title "\\footnotesize{path 3}",\ "data/path3.dat" using (column(1)-30):(column(2)+90):3 with lines lw 1.5 lc rgb "#00BBBB" title "\\footnotesize{path 3}",\
"data/path4.dat" using (column(1)-70):(column(2)-60):3 with lines lw 1.5 lc rgb "#009900" title "\\footnotesize{path 4}",\ "data/path4.dat" using (column(1)-70):(column(2)-60):3 with lines lw 3.0 lc rgb "#000000" dashtype 3 title "\\footnotesize{path 4}",\
"data/startpoints_moved.dat" with points notitle pt 7 ps 1.0 lc rgb "#000000",\ "data/startpoints_moved.dat" with points notitle pt 7 ps 1.0 lc rgb "#000000",\