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added new figure comparing good vs bad int results

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toni
2016-05-09 14:00:41 +02:00
parent 533a3783ef
commit 89f764e22f
24 changed files with 8307 additions and 1508 deletions
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tex/bare_conf.dvi
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tex/bare_conf.tex
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@@ -82,6 +82,9 @@
\usepackage{algorithm} \usepackage{algorithm}
\usepackage{algpseudocode} \usepackage{algpseudocode}
\usepackage{caption}
\usepackage{subcaption}
% replacement for the SI package % replacement for the SI package
\newcommand{\SI}[2]{\ensuremath{#1}\text{\,#2}} \newcommand{\SI}[2]{\ensuremath{#1}\text{\,#2}}
@@ -117,7 +120,7 @@
% gfx include folder % 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/},{gfx/particles/}, {gfx/eval/lag_path4_error/}} \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/}, {gfx/eval/lag_path4_error/}, {gfx/eval/interval_path3_good/}}
% correct bad hyphenation here % correct bad hyphenation here

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tex/chapters/experiments.tex
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@@ -42,7 +42,7 @@ Additionally, we used five \docIBeacon{}s for slight enhancements in some areas.
The empirically chosen values for \docWIFI{} were $P_{0_{\text{wifi}}} = \SI{-46}{\dBm}, \mPLE_{\text{wifi}} = \SI{2.7}{}, \mWAF_{\text{wifi}} = \SI{8}{\dB}$, and $\mPLE_{\text{ib}} = \SI{1.5}{}$ for the \docIBeacon{}s, respectively. The empirically chosen values for \docWIFI{} were $P_{0_{\text{wifi}}} = \SI{-46}{\dBm}, \mPLE_{\text{wifi}} = \SI{2.7}{}, \mWAF_{\text{wifi}} = \SI{8}{\dB}$, and $\mPLE_{\text{ib}} = \SI{1.5}{}$ for the \docIBeacon{}s, respectively.
The system was tested by omitting any time-consuming calibration processes for those values. The system was tested by omitting any time-consuming calibration processes for those values.
We therefore expect the localisation process to perform generally worse compared to standard fingerprinting methods \cite{Ville09}. We therefore expect the localisation process to perform generally worse compared to standard fingerprinting methods \cite{Ville09}.
However, incorporating prior knowledge and smoothing will often compensate for those poorly chosen system parameters. However, smoothing will often compensate for those poorly chosen system parameters.
For the filtering we used $\sigma_\text{wifi} = \sigma_\text{ib} = 8.0$ as uncertainties, both growing with each measurement's age. For the filtering we used $\sigma_\text{wifi} = \sigma_\text{ib} = 8.0$ as uncertainties, both growing with each measurement's age.
While the pressure change was assumed to be \SI{0.105}{$\frac{\text{\hpa}}{\text{\meter}}$}, all other barometer-parameters are determined automatically (see \ref{sec:eval}). While the pressure change was assumed to be \SI{0.105}{$\frac{\text{\hpa}}{\text{\meter}}$}, all other barometer-parameters are determined automatically (see \ref{sec:eval}).
@@ -63,7 +63,7 @@ By adding the activity recognition to the system of \cite{Ebner-16}, we are able
The approximation error decreases by an average of \SI{XX}{\centimeter} for all 4 paths on 10 MC runs. The approximation error decreases by an average of \SI{XX}{\centimeter} for all 4 paths on 10 MC runs.
Due to this additional knowledge, the state transition samples mostly depending upon the current activity and therefore limits the possibility of false floor changes. Due to this additional knowledge, the state transition samples mostly depending upon the current activity and therefore limits the possibility of false floor changes.
Fig. \ref{fig:activityRecognition} shows the recognized activities for path 4 using the Nexus 6. Fig. \ref{fig:activityRecognition} shows the recognized activities for path 4 using the Nexus 6.
Despite a short misdetection caused by faulty pressure readings, the recognition can be considered to be very robust and accurate. Despite a short misdetection in seg. 2, caused by faulty pressure readings, the recognition can be considered to be very robust and accurate.
%Fixed Interval Smoothing %Fixed Interval Smoothing
At first, both FBS and BS are compared in context of fixed-interval smoothing. At first, both FBS and BS are compared in context of fixed-interval smoothing.
@@ -75,35 +75,43 @@ Thus, we calculate only the positional error between estimation and ground truth
\caption{particles. green = avg50, black = avg. gnuplot zickt bei der legende} \caption{particles. green = avg50, black = avg. gnuplot zickt bei der legende}
\label{fig:particles} \label{fig:particles}
\end{figure} \end{figure}
In contrast to BS, the FBS is not able to improve the results using the weighted arithmetic mean for estimating the current position. In contrast to BS, the FBS is not able to improve the results using the weighted arithmetic mean for estimating the current position.
As illustrated in fig. \ref{fig:particles}, the estimated position (black dot) for filtering and FBS is identical although the weights are highly different. Fig. \ref{fig:particles} illustrates the filtered and smoothed particle set at a certain time step on path 4.
To address this problem, we are calculating the average state using the \SI{50}{\percent} best weighted particles (green dot). It can be seen that the estimated position (black dot) for filtering and FBS is identical although the particle weights are highly different.
For evaluating the FBS this estimation method was applied to filtering and smoothing likewise. To address this problem, we are extending the FBS by adding a resampling step.
We deployed 10 MC runs using \SI{2500}{} particles for approximation. Here, particles with large weights are likely to be drawn multiple times.
%The resulting positional error between estimated and ground truth along path 4 can be seen in fig. \ref{}. This focuses the computational resources of the FBS into regions with high probability mass and finally improves the estimation.
Now, the positional average error along all 4 paths could be improved from \SI{2.49}{\meter} to \SI{2.2}{\meter} for the Galaxy and from \SI{1.76}{\meter} to \SI{1.54}{\meter} for the Nexus. Since smoothing operates on known states, the danger of sample impoverishment is negligible.
%Similar outcomes can be observed by adding a resampling step at the end of every smoothing iteration.
However, BS still outperforms the FBS with an average error of \SI{1.74}{\meter} for the Galaxy and \SI{1.41}{\meter} for the Nexus on all 4 paths using the same number of particles and $500$ sample realisations.
A visual example comparing both smoothing methods on path 4 is illustrated in fig. \ref{fig:intcomp}. We deployed 10 MC runs using \SI{2500}{} particles for approximation and a multinomial resampling step to every smoothing interval of the FBS.
Now, the positional average error along all 4 paths using the Nexus and the Galaxy could be improved from \SI{2.08}{\meter} to \SI{1.37}{\meter}.
Using the same number of particles and $500$ sample realisations the BS performs with an average error of \SI{2.21}{\meter} for filtering and \SI{1.51}{\meter} for smoothing.
The difference between both filtering steps is of course based upon the randomized behaviour of the respective probabilistic models.
It is interesting to note, that the positional error is very similar for both used smartphones, although the approximation error varies greatly as we will see later.
A visual example of the smoothing outcome for path 3 is illustrated in fig. \ref{fig:int_path3_a}.
The estimation of BS looks way more realistic and adapts better to the ground truth path. The estimation of BS looks way more realistic and adapts better to the ground truth path.
However, in this particular example the FBS starts at an earlier position (cf. fig. \ref{fig:intcomp} seg. 2), better handling the initial uniform distribution. %However, in this particular example the FBS starts at an earlier position (cf. fig. \ref{fig:intcomp} seg. 2), 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. %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. %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}
\input{gfx/eval/interval_path4_comp/path4_interval}
\caption{Comparison between FBS (red) and BS (blue) on path 4 (black). Both were approximated using $2500$ particles and \SI{500}{} sample realisations for BS. The measurements were recorded using the Nexus 6. }
\label{fig:intcomp}
\todo{Filter mit rein}
\end{figure}
\begin{figure} \begin{figure}
\input{gfx/eval/interval_path3_bad/path3_interval} \begin{subfigure}{0.175\textwidth}
\caption{A situation where BS smoothing (blue) was not able to improve the filtering results (green). 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_path3_good/path3_interval_good}
\label{fig:intervalbad} \caption{}
\label{fig:int_path3_a}
\end{subfigure}
\begin{subfigure}{0.175\textwidth}
\input{gfx/eval/interval_path3_bad/path3_interval}
\caption{}
\label{fig:int_path3_b}
\end{subfigure}
\caption{a) Exemplary comparison between 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}
\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:intervalbad} depicts such a situation for path 3 using BS and measurements provided by the Galaxy S5. For example fig. \ref{fig:int_path3_b} 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.
@@ -142,7 +150,7 @@ It is obvious that a lag of \SI{30}{} time steps has access to much more future
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. 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 continuously optimizing a recurring segment of the path. Nevertheless, there are practical applications like accurately verifying hit checkpoints or continuously optimizing a recurring segment of the path.
%verlgeich noch zwischen bs und fbs. bs weniger partikel und somit schneller. ändern der estimations kann aber auch ein möglichkeit sein.

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tex/gfx/eval/interval_path3_bad/path3_interval.tex
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@@ -79,18 +79,18 @@
\fi% \fi%
\setlength{\fboxrule}{0.5pt}% \setlength{\fboxrule}{0.5pt}%
\setlength{\fboxsep}{1pt}% \setlength{\fboxsep}{1pt}%
\begin{picture}(4896.00,2014.00)% \begin{picture}(3456.00,2014.00)%
\gplgaddtomacro\gplbacktext{% \gplgaddtomacro\gplbacktext{%
}% }%
\gplgaddtomacro\gplfronttext{% \gplgaddtomacro\gplfronttext{%
\csname LTb\endcsname% \csname LTb\endcsname%
\put(4453,1802){\makebox(0,0)[r]{\strut{}\footnotesize{filtered}}}% \put(2578,393){\makebox(0,0)[r]{\strut{}\footnotesize{filtered}}}%
\csname LTb\endcsname% \csname LTb\endcsname%
\put(4453,1582){\makebox(0,0)[r]{\strut{}\footnotesize{smoothed (BS)}}}% \put(2578,173){\makebox(0,0)[r]{\strut{}\footnotesize{smoothed (BS)}}}%
\csname LTb\endcsname% \csname LTb\endcsname%
\put(4453,1802){\makebox(0,0)[r]{\strut{}\footnotesize{filtered}}}% \put(2578,393){\makebox(0,0)[r]{\strut{}\footnotesize{filtered}}}%
\csname LTb\endcsname% \csname LTb\endcsname%
\put(4453,1582){\makebox(0,0)[r]{\strut{}\footnotesize{smoothed (BS)}}}% \put(2578,173){\makebox(0,0)[r]{\strut{}\footnotesize{smoothed (BS)}}}%
}% }%
\gplbacktext \gplbacktext
\put(0,0){\includegraphics{path3_interval}}% \put(0,0){\includegraphics{path3_interval}}%

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tex/gfx/eval/interval_path3_bad/vis.gp
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@@ -1,17 +1,19 @@
set terminal epslatex size 3.4,1.4 set terminal epslatex size 2.4,1.4
set output "path3_interval.tex" set output "path3_interval.tex"
set termoption dashlength 0.5 set termoption dashlength 0.5
set ticslevel 0 set ticslevel 0
set view equal xy set view equal xy
set zrange [350:2000] set zrange [0:2200]
set multiplot layout 1,1 scale 3.1,3.1 offset -0.12,0.26 set xrange[0:2500]
set view 72,33 set yrange[0:5000]
set multiplot layout 1,1 scale 3.1,3.1 offset -0.05,0.26
set view 78,33
unset border unset border
unset xtics unset xtics
unset ytics unset ytics
unset ztics unset ztics
set key at screen 0.99,0.95 opaque box samplen 0.5 width -7.0 set key at screen 0.86,0.25 opaque box samplen 0.5 width -7.0
splot \ splot \
'floors.dat' notitle with lines lc rgb '#999999', \ 'floors.dat' notitle with lines lc rgb '#999999', \

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@@ -0,0 +1,152 @@
522.873
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512.968
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305.853
266.903
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293.256
383.605
665.331
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582.765
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79.5973
52.1966
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81.485
80.2931
65.6255
49.3823
32.6655
12.2525
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25.9704
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71.8129
103.085
85.1931
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62.2323
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55.0105
39.251
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29.0113
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@@ -0,0 +1,152 @@
113.4
80.9259
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109.196
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101.102
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54.3356
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22.0004
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31.0398
21.0398
45.2516
63.6141
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30.8729
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29.4975
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37.2413
75.6743
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101.508
100.646
118.703
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108.134
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87.9081
95.0138
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139.129
181.312
182.933
156.199
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190.105
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207.855
214.054
233.689
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237.536

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@@ -0,0 +1,152 @@
794.685
794.66
813.11
819.756
811.028
788.868
774.418
760.315
733.296
715.564
690.089
652.607
611.326
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tex/gfx/eval/interval_path3_good/BS/err_smooth_bergwerk_path3_nexus_simple_interval4.dat Normal file
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@@ -0,0 +1,152 @@
792.235
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864.001
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769.883
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87.4353
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484.432
558.905

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@@ -0,0 +1,188 @@
3125.26 3513.27 541.419
2190.37 3360.95 806.987
1679.28 3372.73 925.502
1447.18 3415.44 974.002
1323.69 3483.65 1004.93
1273.47 3524.09 1021.87
1218.74 3553.96 1034.36
1201.99 3602.72 1041.91
1139.25 3579.13 1048.36
1086.29 3586.94 1051.69
1091.97 3590.5 1053.24
1063.44 3599.73 1056.01
1041.46 3603.16 1057.52
1026.52 3603.78 1058.61
983.776 3615.94 1058.88
971.973 3613.57 1059.31
956.832 3605.25 1059.71
956.067 3594.67 1059.91
937.795 3574.96 1059.91
918.928 3593.91 1059.91
908.901 3593.02 1060
893.978 3598.85 1060
890.802 3582.17 1059.99
865.295 3598.86 1059.98
842.208 3599.11 1059.99
830.701 3578.7 1059.98
825.036 3542.27 1059.98
802.096 3533.51 1060
778.147 3532.58 1059.99
758.002 3511.91 1059.99
762.357 3486.5 1060
760.719 3472.69 1059.98
754.955 3480.36 1059.97
745.767 3476.29 1059.98
728.257 3490.36 1060
743.848 3468.67 1059.98
746.461 3466.25 1060
753.324 3484.94 1060
757.003 3490.56 1059.99
778.473 3485.58 1059.99
784.72 3495.3 1059.98
788.579 3513.38 1060
800.682 3522.74 1059.99
798.72 3523.37 1059.99
811.592 3523.84 1059.98
825.791 3513.05 1060
816.723 3496.63 1060
790.059 3476.12 1060
798.289 3464.38 1059.99
800.492 3448.03 1059.99
799.065 3446.72 1059.98
808.264 3447.31 1059.99
833.022 3459.5 1060
834.219 3450.38 1060
842.717 3413.56 1059.98
814.152 3411.86 1059.98
832.884 3410.28 1059.98
848.212 3386.32 1060
858.488 3356.49 1060
861.654 3368.69 1060
864.459 3369.69 1059.99
871.094 3371.48 1059.92
905.074 3356.29 1059.86
912.848 3359.2 1059.96
908.781 3375.29 1059.98
924.122 3423.84 1059.99
971.429 3419.32 1060
982.225 3436.68 1060
982.48 3450.07 1060
986.516 3476.24 1060
978.426 3500.23 1060
997.91 3521.65 1059.98
1019.63 3538.31 1059.94
1055.78 3531.81 1059.69
1097.45 3527.92 1059.34
1105.86 3569.28 1057.59
1119.43 3825.39 1035.85
1383.44 4342.7 963.856
1575.01 4643.53 905.735
1591.74 4647.36 892.317
1562.5 4562.94 882.41
1508.65 4376.79 857.023
1442.85 4150.99 814.495
1403.76 4046.39 774.091
1387.07 4045.4 746.704
1376.06 4068.45 729.289
1375.1 4102.58 722.315
1376.12 4122.32 720.874
1372.79 4122.64 721.018
1365.29 4109.92 721.91
1358.54 4095.12 722.226
1352.95 4079.21 722.687
1341.48 4061.28 723.799
1318.37 4043.29 723.19
1308.65 4024.34 721.966
1298.96 4002.04 721.49
1274.84 3975.47 721.124
1246.16 3946.07 720.873
1226.22 3913.08 720.653
1205.43 3882.58 720.418
1203.15 3848.1 720.256
1201.97 3811.93 720.117
1195.93 3768.11 720.181
1180.14 3734.73 720.279
1168.51 3711.06 720.265
1169.95 3665.38 720.167
1169.04 3622.78 720.088
1160.59 3594.8 720.071
1168.27 3557.84 720.07
1192.31 3516.37 720.045
1214.41 3502.74 720.084
1229.32 3484.65 720.071
1241.74 3469.54 720.101
1243.2 3491.38 719.871
1224.53 3520.15 718.828
1217.8 3521.72 717.054
1218.84 3516.45 716.008
1219.6 3500.85 714.787
1223.8 3509.46 714.344
1219.78 3522.13 712.422
1232.39 3501.86 708.546
1242.02 3499.38 700.597
1255.24 3567.65 673.011
1312.02 3621.81 606.917
1353.36 3701.49 534.232
1362.92 3778.01 487.813
1364.45 3823.84 465.845
1364.08 3863.84 449.291
1361.74 3889.59 440.671
1362.01 3915.63 432.733
1359.44 3956.07 422.144
1358.65 4002.52 410.714
1358.59 4053.32 397.766
1349.9 4090.55 388.604
1343.81 4104.72 385.443
1336.85 4108.59 384.268
1328.75 4105.54 384.537
1324.8 4095.77 384.733
1300.47 4102.22 383.822
1290.95 4096.39 382.318
1267.99 4090.17 381.315
1254.22 4082.75 381.055
1253.4 4057.7 381.056
1261.03 4031.01 380.887
1264.12 4029.2 380.529
1251.96 4015.01 380.43
1257.25 4005.14 380.466
1246.26 4001.81 380.556
1251.99 3979.12 380.526
1244.33 3964.91 380.529
1234.52 3956.27 380.322
1236.45 3924.74 380.329
1235.8 3896.18 380.395
1237.91 3866.78 380.179
1229.38 3837.56 380.084
1226.87 3808.24 380.179
1229.97 3756.97 380.225
1248.68 3714.61 380.22
1251.74 3694.25 380.22
1245.04 3673.55 380.146
1248.97 3621.51 380.091
1236.05 3551.28 380.045
1225.47 3502.38 380.074
1213.89 3447.45 379.97
1204.52 3397.76 379.735
1194.18 3350.93 379.667
1173.27 3295.55 379.379
1132.58 3212.19 379.145
1105.98 3128.39 379.521
1074.75 3039.53 379.688
1049.66 2957.14 379.875
1021.06 2828.58 379.913
1004.37 2721.29 379.965
988.522 2637.81 380.034
974.086 2530.87 379.982
966.041 2429 379.953
962.995 2349.66 379.962
968.022 2271.92 379.938
969.933 2177.97 379.953
970.363 2101.47 379.976
960.63 2052.46 379.982
960.466 1992.99 380
957.2 1947.03 380
946.43 1911.47 380
932.491 1880.78 380
931.096 1841.98 380.001
929.48 1775.38 380
e

153
tex/gfx/eval/interval_path3_good/BS/est_smooth_bergwerk_path3_nexus_simple_interval4.dat Normal file
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@@ -0,0 +1,153 @@
994.088 2766.68 1060
1012.57 2799.17 1060
1039.51 2829.99 1060
1066.98 2846.21 1060
1102.31 2845.48 1060
1105.97 2841.27 1060
1112.37 2852.12 1060
1124.49 2852.25 1060
1124.33 2856.93 1060
1147.6 2859.54 1060
1164.64 2878.51 1060
1158.08 2863.58 1060
1191.39 2854.65 1060
1282.15 2919.6 1060
1294.78 2905.74 1060
1330.37 2910.2 1060
1384.19 2926.73 1060
1443.83 2956.71 1060
1494.98 2949.88 1060
1516.7 2988.93 1060
1494.95 2969.9 1060
1586.22 2950.11 1060
1606.01 2984.25 1060
1710.13 3065.44 1060
1677.44 3094.26 1060
1668.23 3137.24 1060
1701.75 3088.1 1059.99
1713.32 3098.6 1059.95
1687.52 3153.76 1060
1686.16 3185.92 1060
1604.29 3189.43 1060
1556.59 3207.73 1060
1739.93 3062.49 1060
1679.15 3093.07 1060
1624.76 3163.22 1060
1566.64 3156.02 1060
1536.53 3185.82 1060
1527.38 3205.64 1060
1524.68 3227.47 1060
1449.07 3224.39 1059.99
1399.87 3312.99 1028.01
1361.15 3473.04 958.405
1362.66 3599.87 902.931
1365.83 3719.7 850.505
1368.34 3808.68 812
1369.65 3870.44 784.989
1379.82 3893.8 774.773
1384.7 3906.7 769.287
1347.75 3971.84 743.449
1358.9 4081.15 725.868
1361.48 4084.54 722.774
1343.29 4078.72 726.249
1327.22 4087.47 727.057
1313.74 4105.83 722.29
1300.07 4117.88 720.037
1273.12 4097.98 720.163
1253.58 4074 720.141
1212.66 4044.7 720.165
1182.93 4008.69 720.141
1176.95 3974.1 720.146
1187.13 3931.24 720.017
1185.5 3890.66 720.014
1180.61 3854.24 720
1179.64 3810.76 720
1187.8 3767.08 720.009
1192.15 3710.71 720
1185.85 3667.78 720
1187.79 3646.28 720
1179.33 3604.37 720.019
1168.84 3560.43 720.031
1179.22 3511.83 720
1183.92 3497.46 720
1186.71 3468.84 720.102
1206.99 3441.08 720.015
1252.3 3431.73 720
1260.84 3407.71 720.051
1276.87 3412.61 720.015
1296.78 3429.82 716.968
1288.37 3450.02 708.76
1284.37 3507.1 699.051
1271.65 3494.38 690.308
1279.63 3489.42 688.245
1263.5 3464.05 688.992
1279.54 3469.76 690.625
1300.57 3462.9 683.808
1323.86 3500.56 664.477
1379.05 3517.59 598.894
1379.7 3583.16 570.23
1375.9 3642.24 544.426
1348.58 3713.02 513.581
1356.46 3780.29 484.519
1353.73 3834.32 461.319
1350.23 3896.57 435.579
1322.17 3955.79 423.897
1310.36 3962.12 417.263
1319.23 3974.76 418.798
1294.85 3982.26 417.602
1276.41 3999.51 411.689
1259.87 4021.36 402.155
1227.02 4042.55 393.961
1206.73 4044.44 388.848
1188.86 4047.95 384.502
1175.26 4036.68 380.254
1158.21 4028.5 380.102
1154.09 3996.93 380.099
1160.24 3953.34 380.068
1167.52 3909.73 380.043
1172.66 3853.43 380
1175.18 3810.37 380
1174.16 3768.06 380.054
1176.49 3734.77 380
1175.45 3694 380
1159.89 3677.21 380
1156.56 3610.52 380
1156.82 3570.95 380
1140.9 3518.16 380
1139.96 3474.79 380
1129.97 3451.55 380
1140.73 3411.67 380
1149.14 3374.47 380
1142.58 3324.41 380
1144.23 3258.43 380
1145.38 3215.06 380
1143.83 3118.67 380
1097.61 3063.03 380
1102.47 3002.3 380
1114.25 2970.26 379.999
1077.72 2857.83 380
1041.7 2773.6 380
1024.62 2761.42 380
1003.35 2696.38 380
1019.67 2642.49 380
1021.69 2600.31 380
1004.16 2584.91 380
1016.53 2530.24 380
1017.88 2474.16 380
1024.22 2394.65 380
1043.29 2291.83 380
1037.12 2262.09 380
1026.43 2212.3 380
997.029 2118.93 380
957.829 2017.09 380
956.899 1992.58 380
987.783 1850.14 380
963.748 1839.07 380
953.896 1845.59 380
947.938 1833.18 380
936.364 1838.57 380
930.963 1811.48 380
910.823 1827.18 380
913.722 1792.03 380
907.452 1812.21 380
e

15
tex/gfx/eval/interval_path3_good/BS/path_bergwerk_path3_nexus_simple_interval4.dat Normal file
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@@ -0,0 +1,15 @@
210 2880 1060
210 2880 1060
1140 2880 1060
1340 3180 1060
1340 3680 890
1340 4050 720
1141.08 4050 720
1141.08 3170 720
1340 3170 720
1340 3680 550
1340 4070 380
1140 4070 380
1110 3030 380
1160.04 1290 380
e

16
tex/gfx/eval/interval_path3_good/BS/plot_bergwerk_path3_nexus_simple_interval4.gp Normal file
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set terminal eps size 3.4,2
set output 'bergwerk_path3_nexus_simple_interval4.eps'
set termoption dashlength 0.5
set ticslevel 0
set view equal xy
set zrange [0:2200]
set multiplot layout 1,1 scale 2.7,2.7 offset 0,0.23
set view 72,33
unset border
unset xtics
unset ytics
unset ztics
splot \
'floors.dat' skip 21 notitle with lines lc rgb '#777777', \
'path_bergwerk_path3_nexus_simple_interval4.dat' skip 21 notitle with lines lw 2.5 dashtype 2 lc rgb '#007700', \
'est_norm_bergwerk_path3_nexus_simple_interval4.dat' skip 21 notitle with lines lw 2.5 lc rgb '#000099', 'est_smooth_bergwerk_path3_nexus_simple_interval4.dat' skip 21 notitle with lines lw 2.5 lc rgb '#000000'

3
tex/gfx/eval/interval_path3_good/BS/plot_dist_err_bergwerk_path3_nexus_simple_interval4.gp Normal file
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plot \
'err_dist_norm_bergwerk_path3_nexus_simple_interval4.dat' with lines, \
'err_dist_smooth_bergwerk_path3_nexus_simple_interval4.dat' with lines

3
tex/gfx/eval/interval_path3_good/BS/plot_err_bergwerk_path3_nexus_simple_interval4.gp Normal file
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plot \
'err_norm_bergwerk_path3_nexus_simple_interval4.dat' with lines, \
'err_smooth_bergwerk_path3_nexus_simple_interval4.dat' with lines

0
tex/gfx/eval/interval_path3_good/BS/unsmoothed_bergwerk_path3_nexus_simple_interval4.stats Normal file
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2297
tex/gfx/eval/interval_path3_good/floors.dat Normal file
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15
tex/gfx/eval/interval_path3_good/path3.dat Normal file
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@@ -0,0 +1,15 @@
210 2880 1060
210 2880 1060
1140 2880 1060
1340 3180 1060
1340 3680 890
1340 4050 720
1141.08 4050 720
1141.08 3170 720
1340 3170 720
1340 3680 550
1340 4070 380
1140 4070 380
1110 3030 380
1160.04 1290 380
e

3688
tex/gfx/eval/interval_path3_good/path3_interval_good.eps Normal file
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95
tex/gfx/eval/interval_path3_good/path3_interval_good.tex Normal file
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% GNUPLOT: LaTeX picture with Postscript
\begingroup
\makeatletter
\providecommand\color[2][]{%
\GenericError{(gnuplot) \space\space\space\@spaces}{%
Package color not loaded in conjunction with
terminal option `colourtext'%
}{See the gnuplot documentation for explanation.%
}{Either use 'blacktext' in gnuplot or load the package
color.sty in LaTeX.}%
\renewcommand\color[2][]{}%
}%
\providecommand\includegraphics[2][]{%
\GenericError{(gnuplot) \space\space\space\@spaces}{%
Package graphicx or graphics not loaded%
}{See the gnuplot documentation for explanation.%
}{The gnuplot epslatex terminal needs graphicx.sty or graphics.sty.}%
\renewcommand\includegraphics[2][]{}%
}%
\providecommand\rotatebox[2]{#2}%
\@ifundefined{ifGPcolor}{%
\newif\ifGPcolor
\GPcolorfalse
}{}%
\@ifundefined{ifGPblacktext}{%
\newif\ifGPblacktext
\GPblacktexttrue
}{}%
% define a \g@addto@macro without @ in the name:
\let\gplgaddtomacro\g@addto@macro
% define empty templates for all commands taking text:
\gdef\gplbacktext{}%
\gdef\gplfronttext{}%
\makeatother
\ifGPblacktext
% no textcolor at all
\def\colorrgb#1{}%
\def\colorgray#1{}%
\else
% gray or color?
\ifGPcolor
\def\colorrgb#1{\color[rgb]{#1}}%
\def\colorgray#1{\color[gray]{#1}}%
\expandafter\def\csname LTw\endcsname{\color{white}}%
\expandafter\def\csname LTb\endcsname{\color{black}}%
\expandafter\def\csname LTa\endcsname{\color{black}}%
\expandafter\def\csname LT0\endcsname{\color[rgb]{1,0,0}}%
\expandafter\def\csname LT1\endcsname{\color[rgb]{0,1,0}}%
\expandafter\def\csname LT2\endcsname{\color[rgb]{0,0,1}}%
\expandafter\def\csname LT3\endcsname{\color[rgb]{1,0,1}}%
\expandafter\def\csname LT4\endcsname{\color[rgb]{0,1,1}}%
\expandafter\def\csname LT5\endcsname{\color[rgb]{1,1,0}}%
\expandafter\def\csname LT6\endcsname{\color[rgb]{0,0,0}}%
\expandafter\def\csname LT7\endcsname{\color[rgb]{1,0.3,0}}%
\expandafter\def\csname LT8\endcsname{\color[rgb]{0.5,0.5,0.5}}%
\else
% gray
\def\colorrgb#1{\color{black}}%
\def\colorgray#1{\color[gray]{#1}}%
\expandafter\def\csname LTw\endcsname{\color{white}}%
\expandafter\def\csname LTb\endcsname{\color{black}}%
\expandafter\def\csname LTa\endcsname{\color{black}}%
\expandafter\def\csname LT0\endcsname{\color{black}}%
\expandafter\def\csname LT1\endcsname{\color{black}}%
\expandafter\def\csname LT2\endcsname{\color{black}}%
\expandafter\def\csname LT3\endcsname{\color{black}}%
\expandafter\def\csname LT4\endcsname{\color{black}}%
\expandafter\def\csname LT5\endcsname{\color{black}}%
\expandafter\def\csname LT6\endcsname{\color{black}}%
\expandafter\def\csname LT7\endcsname{\color{black}}%
\expandafter\def\csname LT8\endcsname{\color{black}}%
\fi
\fi
\setlength{\unitlength}{0.0500bp}%
\ifx\gptboxheight\undefined%
\newlength{\gptboxheight}%
\newlength{\gptboxwidth}%
\newsavebox{\gptboxtext}%
\fi%
\setlength{\fboxrule}{0.5pt}%
\setlength{\fboxsep}{1pt}%
\begin{picture}(3456.00,2014.00)%
\gplgaddtomacro\gplbacktext{%
}%
\gplgaddtomacro\gplfronttext{%
\csname LTb\endcsname%
\put(2112,4147){\makebox(0,0)[r]{\strut{}\footnotesize{filtered}}}%
\csname LTb\endcsname%
\put(2112,3927){\makebox(0,0)[r]{\strut{}\footnotesize{smoothed (BS)}}}%
}%
\gplbacktext
\put(0,0){\includegraphics{path3_interval_good}}%
\gplfronttext
\end{picture}%
\endgroup

4
tex/gfx/eval/interval_path3_good/startpoints_moved.dat Normal file
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1210 470 1060
1060.18 4520 0
180 2970 1060
1070 470 1060

21
tex/gfx/eval/interval_path3_good/vis.gp Normal file
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set terminal epslatex size 2.4,1.4
set output "path3_interval_good.tex"
set termoption dashlength 0.5
set ticslevel 0
set view equal xy
set zrange [0:2200]
set xrange[0:2500]
set yrange[0:5000]
set multiplot layout 1,1 scale 3.1,3.1 offset -0.05,0.26
set view 78,33
unset border
unset xtics
unset ytics
unset ztics
splot \
'floors.dat' notitle with lines lc rgb '#999999', \
'path3.dat' notitle with lines lw 1.0 dashtype 2 lc rgb '#000000', \
'BS/est_norm_bergwerk_path3_nexus_simple_interval4.dat' skip 21 title "\\footnotesize{filtered}" with lines lw 1.0 lc rgb '#00FF00', \
'BS/est_smooth_bergwerk_path3_nexus_simple_interval4.dat' skip 21 title "\\footnotesize{smoothed (BS)}" with lines lw 1.0 lc rgb '#0000FF'