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EgalYue / Mobile_Marker_Based_Navigation

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Pathfinding Error Results Summary #10

Open EgalYue opened 6 years ago

EgalYue commented 6 years ago

I computed the camera pose with cv2.SOLVEPNP_ITERATIVE method, because this method has less R error and t error. https://github.com/EgalYue/Mobile_Marker_Based_Navigation/blob/c8c857cbe9e059a281b002513dbdcf5bb7a383e6/python/pathFinding/comare_TwoPaths.py#L176

resolution: 0.1m Start(1.55m, 2..05m), Goal(1.55m, 4.05m) Marker position: (0, 3m)

compare_different_paths fixed_paths

Error (Eucidean distance) 1.Form representation: position_error_ euclidean_distance

2.Form representation: compare_different_paths

3.Form representation: compare_different_paths-1

R,t error: 1.Form representation: compare_r_error_and_t_error_of_different_paths

2.Form representation:

compare_r_error_of_different_paths compare_t_error_of_different_paths

EgalYue commented 6 years ago

resolution: 0.2m Start(1.55m, 2..05m), Goal(1.55m, 4.05m) Marker position: (0, 3m)

compare_different_paths fixed_paths

position_error_ euclidean_distance

compare_different_paths

compare_different_paths-2

compare_r_error_and_t_error_of_different_paths

compare_r_error_of_different_paths

compare_t_error_of_different_paths

EgalYue commented 6 years ago

resolution: 0.3m Start(1.55m, 2..05m), Goal(1.55m, 4.05m) Marker position: (0, 3m)

compare_different_paths fixed_paths

position_error_ euclidean_distance

compare_different_paths

compare_different_paths-1

compare_r_error_and_t_error_of_different_paths

compare_r_error_of_different_paths

compare_t_error_of_different_paths

EgalYue commented 6 years ago

resolution: 0.4m Start(1.55m, 2..05m), Goal(1.55m, 4.05m) Marker position: (0, 3m)

Potential field method : Goals Non-Reachable, robot is trapped in oscillations

EgalYue commented 6 years ago

resolution: 0.5m Start(1.55m, 2..05m), Goal(1.55m, 4.05m) Marker position: (0, 3m)

compare_different_paths fixed_paths

position_error_ euclidean_distance

compare_different_paths

compare_different_paths-1

compare_r_error_and_t_error_of_different_paths

compare_r_error_of_different_paths

compare_t_error_of_different_paths

EgalYue commented 6 years ago

Using Mayavi: Comare distance error(Euclidean distance): diserror Compare R error: rerror Compare t error: terror