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added new gfx (path2 compare)

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kazu
2016-05-09 16:07:47 +02:00
parent 5a3677e139
commit 7789adf6d5
6 changed files with 9186 additions and 13 deletions
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tex/chapters/experiments.tex
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@@ -103,18 +103,20 @@ The estimation of BS looks way more realistic and adapts better to the ground tr
%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}
\begin{subfigure}{0.175\textwidth}
\input{gfx/eval/interval_path2_good/path2_interval_good}
\caption{}
\label{fig:int_path2_a}
\end{subfigure}
\begin{subfigure}{0.175\textwidth}
\input{gfx/eval/interval_path2_bad/path2_interval}
\caption{}
\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.}
\label{fig:int_path3_comp}
%\begin{subfigure}{0.175\textwidth}
% \input{gfx/eval/interval_path2_good/path2_interval_good}
% \caption{}
% \label{fig:int_path2_a}
%\end{subfigure}
%\begin{subfigure}{0.175\textwidth}
% \input{gfx/eval/interval_path2_bad/path2_interval}
% \caption{}
% \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.}
\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.}
\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.