From 3bbe256356c5ddcc987fffdc68e60034c64874f7 Mon Sep 17 00:00:00 2001 From: toni Date: Thu, 5 May 2016 17:55:31 +0200 Subject: [PATCH] commit for merge --- tex/bare_conf.dvi | Bin 72232 -> 75348 bytes tex/bare_conf.tex | 2 +- tex/chapters/experiments.tex | 14 ++++++++++++++ 3 files changed, 15 insertions(+), 1 deletion(-) diff --git a/tex/bare_conf.dvi b/tex/bare_conf.dvi index 4e23cd214ee2206a320de2edc64405006fea1741..57792e6d2983ad9b3a2f85908a1931cbd9542873 100644 GIT binary patch delta 4192 zcma)AeRLC57SGE}3c;Xlv87stBCZrq>Gm5~ln(*5fOMgyu*ZT zx{A2T>F~D6Xpj^IL|nfpN9kEty22_eT^Bum^>`2vb@`C5@}W>__r5oi7Cifh`J->% zefQmW-+lM@yZ3aNHW9(E3(cMT!p&W+ zI4F29ksD(hqT1<6CuD!p_Qq;KlH#^Eo~j@LLG>ymq=PVSJm3V@3$nVzpu6i{XQoYPUxO3O*q_l8Y1QfwF zxQhY{K`2?NyI@CkQI?e zwn#UeF|B#QSBZvj~(SJK=3K9wVMVbb>TZDLtPI&hawE%9WewgNmP=ndF zoc~IQtULPmNHm&y>B6z-TFX}S-7e!Puv@cs?kfc6#>QeXP-sJqpzxZy_Nw*%<^KIw zE&sah^!&}|FGRI*2e+0Pr@e4%JgVK<(o=3sw|RaS)#}GBs4%8GF3pT;Q{MGg8q+Aqvnfu}9&{yE;5?+-r#^Nk;`n_$e(R4;`2rX{B)8uOmKi{FAk-*bIw z2}tNKm2I&^qtP~eOh?}S=EdyrU(R(>M&OJIe1E5Gh?>SM8Hnjca#1@1$w@p12u}1jfh1>4bI7f43 zd$GoC(yG-sx9KUD;3rPNGRFQSw`sNNr77lVK0983Y^4C%^k^U`Lw<%uH--cRWt#Uy zZUGSi!jL4Ic5vhXyo%zshG|#{U>BsE)ReR}OcnhRA^@5ceL18Urg+gq3fKYox*%aa zkguklp|TtVuCNu1z6&e#(4=kT4u*-5?dgn%OkM^IBC1VV-yd3wbU{)W26aFNCB_OG7m6g$`hPJ-f?()TATJ|lxvq@*^My)Le$Ms*R3_WZw zBFnv^ly(@rNpg`@yy$~-jCWIXRsKKwiesBuewmSvTf0W2Ux!hgKjd@L$8XfET{jyv zCSj$Bh$=iJL=s*Bo=6d${b#d>yD&f8oY!Fib_a@PhFDl_7tT&o2>IhZx%FVe@1prZ zF9mzdTmZE=zni!O$Q32Y?_Ntoo@NpW3Mv0BHE7c6Mx!YGeN~^(rV+A#lc5H>M9|2yg8x z8nYARu`^OTtDPQGJicrah@Utk8PZD18({h(cL>CX-`%>aq`0KS5JplbYwHXt6_y&B zhg(h#$V|@r^2^l&GL!f|%D-hmX0qR|#qSKrObXo5T0bB&dGOV5PJ=80?$CoN8PcCY zZJOov$#;vM;y93e6@c*B*8W#6h5`pHLGC2Nb6*S%dn!wch*J_=OQ}Q;dtluk3P`d_ zR*J5rDiDQ8+>k61Za#FM2m9R^PB~?F$&wr_2*{%XvDC=#MD`}_21F>uxZ_;IYJjF= zg-+&F(tWI%TUZU~mj4NU0y&18J0cdNccT4=4sn3|4`Qg`mZfXulx1w7a4N6biTjh`Q(pCWk{TK&OmpN=gi-@hK3x`ia1+ z5qcfdRk<lYUn6PFjemIh?Fze1o+q%!|Ho#o-F zEHgVpinqWM6q*W3C^K|FxF`Q0yAaysGXG1p#d`j-~8S^_^ID0@bM@KL9HhTWdK|)|rMD z>5krva!F=v%#c)O?Ww5NeQ;wt`Q*$34zNOQ@4kM#MFrO?0svG z+R37`)7j$sv(;=ocJ^*ImY{+!v_7g$Eg5yFz8VO` zVu9RqL3<8eCU8vVS#tQN+0dDkU6c^#c*I9GT=GD#IW|wC&5WmGLtrANO zA38hHk%ev~&6jyHr6-%qt35~RdO~dM?D4Vjj>{AIm+kL8l-A5)(k+)4v61Ut$i~IJ zbJ6CsijC~;&1B-Qdl#^=>gPFZ{L{}aHXi@kkWcTMbmg}7ea5yo`<76(mTbhVw@7Hh z6>2TJ5mRgV0xhFziP;D(&V-LZ0G_mSU+KdWpwjj`llTG|`iWx*vEviJx1v#e%KqNc zekC+MalnCc5-(X%EwkBcMfL2Xo%r>GSK~rcow=gu`&Y{r1jp)F!esn zFdZ8`$cRqj(Ltyzt+scNsdiuxs$=G=2BR7Mcg;`42b&682O}?2$g!gbj0=`jm>0}X zJZm@AUbQ1^s0~5vQ4--HXfcy~KEym?+%*IDX}t!mL>m$#9Oy;Ur?>YzP%iYzG}ifV zUw189)IWLrI#iCXaPE^#biz=)Xbd+cKF>xc)8B`Np~K`G&v;}fXV(0Nv;6oxnRnMr za!bz*xx4N!D_@+(Xh04?FV|C{C(d1u=Giw=Otb0i9B`e=U&%qWiLe#rCa%v#*-SJx z7qW@2J)ev2XCFPesG6)lIywW&cVUZ-Jl2;-?sz79#Gik%pn`?y@wFW{O@e$+FnVZ?)XFw+u&3R{Q9b^#J?*5Bu~LC;$Ke delta 1481 zcmZ8hT})eL7(VYgr4(ojrIerXBW1*8an$lRNe~5OBdi+>t=mi{n$vP9P1>IBoYMue z3l@yg=-P1n9A6g_fvj1WyI7M?N!6#r-tc$ri1R5_Zfx(G*s94iSOt-+pA<2*7I3tM^`ughTEAdo1VN$ zcB-e>H_J{jvJwi1Rd%Xdj4Lrg8Wp98jFd3}9q#p|{1b?eYC(Q_b?xl*_w$0p2L&XK zs>bWDh|%OiLfzg>^WpFeyLh*4mRY~VpMjiM(cMys?qY!*^nIP!!t&!TOfsu z(*zU{BSey1hWw&3hUADy3_0pb5kVOfN8}l9rAv&?aw{)t<)JnddR9iH?YOK+ydsRG zLQ!N6x(Mxfs|)o+iH0DlBq`(B4udh*CA#z5KI4^y`uk=Y8M6b(-)~1kwv!_RK$o+F z*l&dWX!GX}%}Mgil`>2sk+_w4@0S#0F8q1~&`x&1kTx?+rsvTj7_OSVO6I}iN!HG7 zZ!C4G>{pfTH(W`gU&1gK$KeELBz6ssX%^Q53{ju}xU?b&310&^hAzEe!FepaOr!lQ z3{ZerI84D^77kI+$mt5>obI{FL0>fy_Y1NtNHg4d!>EKp(GgK3Mpj&CE7*})*l}?6 zbG1#U6Kc2Hxpi{DrRFgVS$%*EkL)KoS8V9Q-3IW`-j**IAPij5`VaVN9t5lAY=2ZG z)Fbn^w!FfqAPLccASdUn7d;pnU=RMn2<6<(*V`j zVFCwrH<{oy3f?urDGGiv!64;$3Up4OfJ{$Q{k#B=b@F5}*_zhMH^p#>>a>>VAx{Z-Xy{T2 zcqw>P3;PMD2DjS4Mm_yDIG*F!;4}q0Hh7M5UMkf&-cr4uYo&VMd3I=_9G_k11nuxD zP5;skeOjojxpg>O5D>$nR38&#$)u_k*K;YNop)!_gk$8qTM zhH@CD9==?^<+F0Kd-6FoVQ&>#K2*SjAzeV;_;VF-85ZzR71S(uR)PayVVN9cVsp-| zJ- YX~xEw(DQ2f^4EJ|g3Ygpvm5034}~!hSpWb4 diff --git a/tex/bare_conf.tex b/tex/bare_conf.tex index 0e44747..74dc831 100644 --- a/tex/bare_conf.tex +++ b/tex/bare_conf.tex @@ -117,7 +117,7 @@ % gfx include folder -\graphicspath{ {gfx/baro/},{gfx/graph/},{gfx/paths/},{gfx/eval/},{gfx/},{gfx/grid/},{gfx/activity/},{gfx/eval/interval_path4_comp/},{gfx/eval/interval_path3_bad/}} +\graphicspath{ {gfx/baro/},{gfx/graph/},{gfx/paths/},{gfx/eval/},{gfx/},{gfx/grid/},{gfx/activity/},{gfx/eval/interval_path4_comp/},{gfx/eval/interval_path3_bad/},{gfx/particles/}} % correct bad hyphenation here diff --git a/tex/chapters/experiments.tex b/tex/chapters/experiments.tex index 8ee60b6..9e8537f 100644 --- a/tex/chapters/experiments.tex +++ b/tex/chapters/experiments.tex @@ -77,6 +77,8 @@ Now, the positional error along all 4 paths could be improved from \SI{}{} to \S However, BS still outperforms the FBS by an average of \SI{}{} on all 4 paths using the same number of particles and \SI{500}{} sample realisations. A visual example comparing both smoothing methods on path 4 is illustrated in fig. \ref{fig:intcomp}. +The estimation of BS (blue) looks way more realistic and adapts better to the ground truth path. +However, in this particular example the FBS (red) starts at an earlier position, better handling the initial uniform distribution. Another advantage of BS over FBS, is the ability to still improve the filtering results even while reducing the number of particles radical. For example \SI{50}{} particles and \SI{25}{} sample realisations are providing reliable estimations similar to above experiments, though the risk of losing track is higher. \begin{figure} @@ -103,6 +105,18 @@ Especially interesting in this context are small lags $\tau < 10$ considering fi %wie gut ist fixed-lag mit einem lag = 5. was fällt so auf? Fig. \ref{} illustrates the estimation results for path 4 using \SI{2500}{particles}, \SI{500}{sample realisations} for BS and a fixed-lag $\tau = 5$. +It can be seen that again BS provides a better overall estimation, especially in areas where the user is changing floors. +Besides the positional quality, also the timely error could be reduced by both algorithms using this fixed-lag. +Once more, the BS outperforms the FBS by providing an overall approximation error of $\SI{55}{\centimeter}$ by filtering with $\SI{55}{\centimeter}$, while FBS improves to $\SI{55}{\centimeter}$. + +Besides changing the number of particles, it is also possible the variate the lag. +As one would expect, increasing the lag causes the smoothed estimation to approach the results provided by fixed-interval smoothing. +This can be verified by looking at fig. \ref{}, which is a detailed view of segment XX in fig. \ref{}. +It is obvious that a lag of \SI{30}{} time steps has access to much more future observations and is therefore able to obtain such a result. +Considering an update interval of \SI{500}{\milli\second}, a lag of \SI{30}{} would however mean that the smoother is \SI{15}{\second} behind the filter. +Nevertheless, there are practical applications like accurately verifying hit checkpoints or + +\todo{Experimente noch etwas theoretisch verfeinert. Nicht nur bloße beobachtungen} %lag vergrößern was passiert beschreiben