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toni
2016-05-09 16:52:20 +02:00
parent 8a774851e7 6c57e12768
commit 32d0508ac9
5 changed files with 38 additions and 28 deletions
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tex/bare_conf.dvi
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tex/chapters/experiments.tex
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@@ -98,14 +98,14 @@ The BS has a similar improvement rate.
\begin{figure}
\centering
\input{gfx/eval/interval_path2_compare/path2_interval_compare}
\caption{Left: Exemplary results for path 2 where BS (blue) and filtering (green) using 2500 particles and 500 sample realisations. Right: A situation where smoothing provides a worse error in regard to the ground truth, but obviously a more realistic path.}
\caption{a) Exemplary results for path 2 where BS (blue) and filtering (green) using 2500 particles and 500 sample realisations. b) A situation where smoothing provides a worse error in regard to the ground truth, but obviously a more realistic path.}
\label{fig:int_path2}
\end{figure}
%
Two visual examples of the smoothing outcome for path 2 are illustrated in fig. \ref{fig:int_path2}.
It can be clearly seen, how the smoothing compensates for the faulty detected floor changes using future knowledge.
Additionally, the initial error is reduced extremely, approximating the pedestrian's starting position down to a few centimetres.
In the context of reducing the error as far as possible, the right side of fig. \ref{fig:int_path2} is a very interesting example.
In the context of reducing the error as far as possible, fig. \ref{fig:int_path2} b) is a very interesting example.
Here, the filter offers a lower approximation and positional error in regard to the ground truth.
However it is obvious that smoothing causes the estimation to behave more natural instead of walking the supposed path.
This phenomena could be observed for both smoothers respectively.

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tex/gfx/eval/interval_path2_compare/path2_interval_compare.eps
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@@ -1,7 +1,7 @@
%!PS-Adobe-2.0 EPSF-2.0
%%Title: path2_interval_compare.tex
%%Creator: gnuplot 5.0 patchlevel 1
%%CreationDate: Mon May 9 16:06:30 2016
%%CreationDate: Mon May 9 16:38:10 2016
%%DocumentFonts:
%%BoundingBox: 50 50 294 150
%%EndComments
@@ -441,7 +441,7 @@ SDict begin [
/Author (kazu)
% /Producer (gnuplot)
% /Keywords ()
/CreationDate (Mon May 9 16:06:30 2016)
/CreationDate (Mon May 9 16:38:10 2016)
/DOCINFO pdfmark
end
} ifelse
@@ -3039,14 +3039,14 @@ LTb
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15 -4 V
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@@ -5614,23 +5614,23 @@ stroke 3175 1786 M
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9 0 V
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stroke
LCw setrgbcolor
1.000 452 22 3954 220 BoxColFill
1.000 3397 23 1449 440 BoxColFill
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LCb setrgbcolor
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@@ -7324,13 +7324,13 @@ LC1 setrgbcolor
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LCb setrgbcolor
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tex/gfx/eval/interval_path2_compare/path2_interval_compare.tex
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@@ -81,20 +81,26 @@
\setlength{\fboxsep}{1pt}%
\begin{picture}(4896.00,2014.00)%
\gplgaddtomacro\gplbacktext{%
\csname LTb\endcsname%
\put(24,1932){\makebox(0,0)[l]{\strut{}\footnotesize{a)}}}%
\put(2472,1932){\makebox(0,0)[l]{\strut{}\footnotesize{b)}}}%
}%
\gplgaddtomacro\gplfronttext{%
}%
\gplgaddtomacro\gplbacktext{%
\csname LTb\endcsname%
\put(24,1932){\makebox(0,0)[l]{\strut{}\footnotesize{a)}}}%
\put(2472,1932){\makebox(0,0)[l]{\strut{}\footnotesize{b)}}}%
}%
\gplgaddtomacro\gplfronttext{%
\csname LTb\endcsname%
\put(1508,132){\makebox(0,0)[r]{\strut{}\footnotesize{filtered}}}%
\put(4453,353){\makebox(0,0)[r]{\strut{}\footnotesize{filtered}}}%
\csname LTb\endcsname%
\put(4013,132){\makebox(0,0)[r]{\strut{}\footnotesize{smoothed (BS)}}}%
\put(4453,133){\makebox(0,0)[r]{\strut{}\footnotesize{smoothed (BS)}}}%
\csname LTb\endcsname%
\put(1508,132){\makebox(0,0)[r]{\strut{}\footnotesize{filtered}}}%
\put(4453,353){\makebox(0,0)[r]{\strut{}\footnotesize{filtered}}}%
\csname LTb\endcsname%
\put(4013,132){\makebox(0,0)[r]{\strut{}\footnotesize{smoothed (BS)}}}%
\put(4453,133){\makebox(0,0)[r]{\strut{}\footnotesize{smoothed (BS)}}}%
}%
\gplbacktext
\put(0,0){\includegraphics{path2_interval_compare}}%

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tex/gfx/eval/interval_path2_compare/vis.gp
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@@ -19,6 +19,9 @@ unset ztics
set multiplot layout 1,2 scale 2.45,2.45 offset -0.005,0.23
set label 1 "\\footnotesize{a)}" at screen 0.005,0.96
set label 2 "\\footnotesize{b)}" at screen 0.505,0.96
unset key
splot \
'floors.dat' notitle with lines lc rgb '#999999', \
@@ -26,8 +29,9 @@ splot \
'../interval_path2_good/BS/est_norm_bergwerk_path2_galaxy_simple_interval7.dat' skip 21 notitle with lines lw 1.0 lc rgb '#00FF00', \
'../interval_path2_good/BS/est_smooth_bergwerk_path2_galaxy_simple_interval7.dat' skip 21 notitle with lines lw 1.0 lc rgb '#0000FF'
#set key at screen 0.9,0.12 opaque box samplen 0.5 width -7.0 maxrows 1
set key at screen 0.99,0.23 opaque box samplen 0.5 width -7.0
set key at screen 0.9,0.12 opaque box samplen 0.5 width -7.0 maxrows 1
splot \
'floors.dat' notitle with lines lc rgb '#999999', \
'../interval_path2_bad/path2.dat' notitle with lines lw 1.0 dashtype 2 lc rgb '#000000', \