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toni
2018-10-21 14:17:52 +02:00
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tex_review/chapters/conclusion.tex
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@@ -32,7 +32,7 @@ Currently we consider only the attenuation per floor, however by including infor
Instead of providing those additional environmental informations by manual measurements, the optimization scheme could be used to approximate the respective model and material parameters.
Special data-structures for pre-computation combined with online interpolation might then be a viable choice for utmost accuracy that is still able to run on a commercial smartphone in real-time.
Finally, the \del{rapid computation} \add{approximation} scheme for the KDE opens up completely new possibilities when handling particle sets.
Finally, the \del{rapid computation} \add{approximation} scheme for the KDE is \add{capable of offering} completely new possibilities when handling particle sets.
Within this paper we used it to find the real global maxima for a state estimation and to accurately calculate the Kullback-Leibler divergence.
However, many other estimation schemes are thinkable, for example a trajectory based one, with multiple path-hypotheses, each weighted based on a-priori knowledge.
The KDE approach could also be used to develop better suited resampling techniques, by enabling to draw particles from the underlying density, instead of just reproducing known owns.

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tex_review/chapters/experiments.tex
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@@ -558,7 +558,7 @@ We hope to further improve such situations in future work by enabling the transi
To summarize, the KDE-based approach for estimation is able to resolve multimodalities.
It does not provide a smooth estimated path, since it depends more on an accurate sensor model than a weighted-average approach, but is suitable as a good indicator about the real performance of a sensor fusion system.
At the end, in the here shown examples we only searched for a global maxima, even though the KDE approach opens a wide range of other possibilities for finding a best estimate.
At the end, \add{we only used the KDE approach to provide a global maxima, even though it} opens a wide range of other possibilities for finding a best estimate.
\add{A detailed examination of the runtime performance of the used estimation methods in comparison to the state-of-the-art can be found in \cite{Bullmann-18}.}