33 lines
1.7 KiB
TeX
33 lines
1.7 KiB
TeX
\section{Performance Overview}
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% all paths we evaluated
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\begin{figure}
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\input{gfx/paths}
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\caption{The four paths that were part of the evaluation.
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Starting positions are marked with black circles.
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For a better visualisation they were slightly shifted to avoid overlapping.}
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%\commentByFrank{font war korrekt, aber die groesse war zu gross im vgl. zu den anderen}
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\label{fig:paths}
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\end{figure}
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%
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To give a brief overview of the system's performance we look back at the evaluation provided in \cite{ebner-16}.
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Here, 4 distinct walks were conducted within the faculty building (cf. fig. \ref{fig:paths}).
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No smoothing was carried out.
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We used \SI{7500}{particles} as realisation and calculated the weighted arithmetic mean of the particles as state estimation.
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The ground truth was measured by recording a timestamp at marked spots on the walking route, similar as described in the competition guidelines.
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Starting uniformly distributed, the median error for all conducted walks are listed in table \ref{tbl:errNexus} for the Motorola Nexus 6 and the Samsung Galaxy S5.
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Additionally performing a smoothing step, would further improve the results and reduces temporal errors, as shown in \cite{fetzer-16}.
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%
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\begin{table}[h]
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\caption{Median error for all conducted walks. \commentByFrank{without smoothing?}}
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\label{tbl:errNexus}
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\centering
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\begin{tabular}{|l|c|c|c|c|}
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\hline
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\textbf{Device:} & Path1 & Path2 & Path3 & Path4 \\\hline
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Motorola Nexus 6 & \SI{2.62}{\meter} & \SI{2.14}{\meter} & \SI{2.46}{\meter} & \SI{2.75}{\meter} \\\hline
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Samsung Galaxy S5 & \SI{ 6.35}{\meter} & \SI{4.21}{\meter} & \SI{5.03}{\meter} & \SI{6.79}{\meter} \\\hline
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\end{tabular}
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\end{table}
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