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kazu
2016-05-09 16:42:40 +02:00
parent 7789adf6d5
commit 6c57e12768
4 changed files with 44 additions and 29 deletions
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tex/chapters/experiments.tex
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@@ -1,3 +1,5 @@
\newcommand{\refPathA}{\ref{fig:int_path2_comp}a}
\newcommand{\refPathB}{\ref{fig:int_path2_comp}b}
\section{Experiments}
% all paths we evaluated
@@ -93,7 +95,7 @@ Using the FBS, the Galaxy donates an average approximation error of \SI{4.03}{\m
In contrast the Nexus 6 filters at \SI{5.11}{\meter} and results in \SI{3.87}{\meter} for smoothing.
The BS has a similar improvement rate.
A visual example of the smoothing outcome for path 3 is illustrated in fig. \ref{fig:int_path3_a}.
A visual example of the smoothing outcome for path 3 is illustrated in fig. \refPathA{}.
It can be clearly seen, how the smoothing compensates for the faulty detected floor change using future knowledge.
@@ -114,12 +116,15 @@ The estimation of BS looks way more realistic and adapts better to the ground tr
% \label{fig:int_path2_b}
%\end{subfigure}
%\caption{a) Exemplary results for path 2 where BS (blue) and filtering (green) using 2500 particles and 500 sample realisations. b) A situation where BS smoothing was not able to improve the filtering results. Two main factors are causing this: an initial position within a detached room and inaccurate pressure readings given by the Galaxy S5.}
\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 BS smoothing was not able to improve the filtering results. Two main factors are causing this: an initial position within a detached room and inaccurate pressure readings given by the Galaxy S5.}
\caption{a) Exemplary results for path 2 where BS (blue) and filtering (green) using 2500 particles and 500 sample realisations. b) A situation where BS smoothing was not able to improve the filtering results. Two main factors are causing this: an initial position within a detached room and inaccurate pressure readings given by the Galaxy S5.}
\label{fig:int_path2_comp}
\end{figure}
%
%
Despite the very good outcomes provided by both interval smoother, there are some rare situations in which smoothing does not improve the filtered estimation or even improves the visual path.
For example fig. \ref{fig:int_path3_b} depicts such a situation for path 3 using BS and measurements provided by the Galaxy S5.
For example fig. \refPathB{} depicts such a situation for path 3 using BS and measurements provided by the Galaxy S5.
Here, the estimation was not able to change floors correctly due to faulty pressure readings. Additionally, the initial position was located within a detached room.
This shows that the smoothing results are of course highly depend upon the filtering performance.