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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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11
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} \section{Experiments}
% all paths we evaluated % 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. 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. 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. 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} % \label{fig:int_path2_b}
%\end{subfigure} %\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.} %\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} \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} \label{fig:int_path2_comp}
\end{figure} \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. 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. 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. This shows that the smoothing results are of course highly depend upon the filtering performance.

42
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 %!PS-Adobe-2.0 EPSF-2.0
%%Title: path2_interval_compare.tex %%Title: path2_interval_compare.tex
%%Creator: gnuplot 5.0 patchlevel 1 %%Creator: gnuplot 5.0 patchlevel 1
%%CreationDate: Mon May 9 16:06:30 2016 %%CreationDate: Mon May 9 16:38:10 2016
%%DocumentFonts: %%DocumentFonts:
%%BoundingBox: 50 50 294 150 %%BoundingBox: 50 50 294 150
%%EndComments %%EndComments
@@ -441,7 +441,7 @@ SDict begin [
/Author (kazu) /Author (kazu)
% /Producer (gnuplot) % /Producer (gnuplot)
% /Keywords () % /Keywords ()
/CreationDate (Mon May 9 16:06:30 2016) /CreationDate (Mon May 9 16:38:10 2016)
/DOCINFO pdfmark /DOCINFO pdfmark
end end
} ifelse } ifelse
@@ -3039,14 +3039,14 @@ LTb
1.000 UP 1.000 UP
1.000 UL 1.000 UL
LTb LTb
452 22 N 3397 23 N
0 220 V 0 440 V
3954 0 V 1449 0 V
0 -220 V 0 -440 V
452 22 L 3397 23 L
Z stroke Z stroke
452 242 M 3397 463 M
3954 0 V 1449 0 V
stroke stroke
0.60 0.60 0.60 C 3683 633 M 0.60 0.60 0.60 C 3683 633 M
-41 -8 V -41 -8 V
@@ -5450,7 +5450,7 @@ stroke 2971 1723 M
15 -4 V 15 -4 V
12 -6 V 12 -6 V
27 -3 V 27 -3 V
1640 132 M 4585 353 M
129 0 V 129 0 V
stroke stroke
LCb setrgbcolor LCb setrgbcolor
@@ -5614,23 +5614,23 @@ stroke 3175 1786 M
11 -3 V 11 -3 V
9 0 V 9 0 V
21 -2 V 21 -2 V
4145 132 M 4585 133 M
129 0 V 129 0 V
stroke stroke
LCw setrgbcolor LCw setrgbcolor
1.000 452 22 3954 220 BoxColFill 1.000 3397 23 1449 440 BoxColFill
1.000 UL 1.000 UL
LTb LTb
LCb setrgbcolor LCb setrgbcolor
LTb LTb
452 22 N 3397 23 N
0 220 V 0 440 V
3954 0 V 1449 0 V
0 -220 V 0 -440 V
452 22 L 3397 23 L
Z stroke Z stroke
452 242 M 3397 463 M
3954 0 V 1449 0 V
stroke stroke
0.60 0.60 0.60 C 1.000 UL 0.60 0.60 0.60 C 1.000 UL
LTb LTb
@@ -7324,13 +7324,13 @@ LC1 setrgbcolor
0.00 0.00 0.00 C LCb setrgbcolor 0.00 0.00 0.00 C LCb setrgbcolor
1.000 UL 1.000 UL
LTb LTb
0.00 1.00 0.00 C 1640 132 M 0.00 1.00 0.00 C 4585 353 M
129 0 V 129 0 V
stroke stroke
LCb setrgbcolor LCb setrgbcolor
1.000 UL 1.000 UL
LTb LTb
0.00 0.00 1.00 C 4145 132 M 0.00 0.00 1.00 C 4585 133 M
129 0 V 129 0 V
1.000 UP 1.000 UP
stroke stroke

14
tex/gfx/eval/interval_path2_compare/path2_interval_compare.tex
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@@ -81,20 +81,26 @@
\setlength{\fboxsep}{1pt}% \setlength{\fboxsep}{1pt}%
\begin{picture}(4896.00,2014.00)% \begin{picture}(4896.00,2014.00)%
\gplgaddtomacro\gplbacktext{% \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\gplfronttext{%
}% }%
\gplgaddtomacro\gplbacktext{% \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\gplfronttext{%
\csname LTb\endcsname% \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% \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% \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% \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 \gplbacktext
\put(0,0){\includegraphics{path2_interval_compare}}% \put(0,0){\includegraphics{path2_interval_compare}}%

6
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 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 unset key
splot \ splot \
'floors.dat' notitle with lines lc rgb '#999999', \ '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_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' '../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 \ splot \
'floors.dat' notitle with lines lc rgb '#999999', \ 'floors.dat' notitle with lines lc rgb '#999999', \
'../interval_path2_bad/path2.dat' notitle with lines lw 1.0 dashtype 2 lc rgb '#000000', \ '../interval_path2_bad/path2.dat' notitle with lines lw 1.0 dashtype 2 lc rgb '#000000', \