1 / 9

920

920. 785. 920. 920. DOOR. DOOR. STAIRS. 510. 3950. 3060. 860. 4070. 3620. 910. WINDOW. 4950. 1375. 920. 2030. 900. 710. WINDOW. WINDOW. 785. (500,0). 510. 1. (0,0). 15. 2. (-430,8300). 16. (-140,600). (-480,5250). 3. (-310,1200). (-690,7620). 14. 13.

dustin-carlson
Download Presentation

920

An Image/Link below is provided (as is) to download presentation Download Policy: Content on the Website is provided to you AS IS for your information and personal use and may not be sold / licensed / shared on other websites without getting consent from its author. Content is provided to you AS IS for your information and personal use only. Download presentation by click this link. While downloading, if for some reason you are not able to download a presentation, the publisher may have deleted the file from their server. During download, if you can't get a presentation, the file might be deleted by the publisher.

E N D

Presentation Transcript

  1. 920 785 920 920 DOOR DOOR STAIRS 510 3950 3060 860 4070 3620 910 WINDOW 4950 1375 920 2030 900 710 WINDOW WINDOW

  2. 785 (500,0) 510 1 (0,0) 15 2 (-430,8300) 16 (-140,600) (-480,5250) 3 (-310,1200) (-690,7620) 14 13 (-980,7000) 4 5 (-1200,750) (-630,1650) 12 (-1330,6335) 6 2230 910 11 (-1420,2260) (-1760,5680) 7 10 (-2390,2890) (-2065,5070) 4370 1375 8 9 (-2670,3730) (-2490,4370) 2030 900 710

  3. Frame #1 (500,0) 1 15 2 16 (-140,600) 3 14 13 4 5 (-630,1650) 12 6 11 7 10 8 9

  4. Frame #2 1 15 2 16 3 (-310,1200) 14 13 4 5 (-1200,750) 12 6 11 (-1420,2260) 7 10 8 9

  5. Frame #3 785 (500,0) 510 1 (0,0) 15 2 (-430,8300) 16 (-140,600) (-480,5250) 3 (-310,1200) (-690,7620) 14 13 (-980,7000) 4 5 (-1200,750) (-630,1650) 12 (-1330,6335) 6 910 11 (-1420,2260) (-1760,5680) 7 10 (-2390,2890) (-2065,5070) 1375 8 9 (-2670,3730) (-2490,4370) 2030 900 710

  6. Frame #4 785 (500,0) 510 1 (0,0) 15 2 (-430,8300) 16 (-140,600) (-480,5250) 3 (-310,1200) (-690,7620) 14 13 (-980,7000) 4 5 (-1200,750) (-630,1650) 12 (-1330,6335) 6 910 11 (-1420,2260) (-1760,5680) 7 10 (-2390,2890) (-2065,5070) 1375 8 9 (-2670,3730) (-2490,4370) 2030 900 710

  7. Frame #5 785 (500,0) 510 1 (0,0) 15 2 (-430,8300) 16 (-140,600) (-480,5250) 3 (-310,1200) (-690,7620) 14 13 (-980,7000) 4 5 (-1200,750) (-630,1650) 12 (-1330,6335) 6 910 11 (-1420,2260) (-1760,5680) 7 10 (-2390,2890) (-2065,5070) 1375 8 9 (-2670,3730) (-2490,4370) 2030 900 710

  8. Location of robots in each frame Frame 1 G:1 B:5 P:2 Frame 2 G:3 B:6 P:4 Frame 3 G:6 B:8 P:7 Frame 4 G:8 B:10 P:9 Frame 5 G:10 B:14 P:12

  9. Estimates dist(m) 12 13 23 0.8498 1.4839 0.8719 0.9656 1.4851 1.4921 1.1420 1.3665 0.6595 0.7316 1.2579 0.9537 1.4807 2.1173 0.9779 Ground Truth dist(mm)= 12 13 23 877.27 1999.8 1158.7 997.3 1534.8 1525.9 1156.6 1929.6 885.44 664.83 1470.2 818.92 1463 2897.1 1435.6 phi(deg) 12 13 23 12.8507 161.2366 18.0994 36.4714 75.6212 73.0522 16.8253 144.1805 14.0780 8.7506 172.6598 8.5061 4.0142 191.5692 4.6239 phi(deg)= 12 13 23 9.3883 158.17 12.442 38.031 71.467 70.502 21.941 141.44 16.621 6.9649 164.44 8.5902 1.8584 176.32 1.8235

More Related