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robotika / subt-artf

Dataset of Artifacts for SubT Challenge
MIT License
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FQ - ver106expfqr2 - c80f7de7-7ecf-4304-9454-aa42760ea1f1 #146

Open m3d opened 3 years ago

m3d commented 3 years ago

Test s "plnou polni", coz momentalne s 1000 kreditem je 2x Freyja a 3x X4 SSCI. Skoncilo to 6ti body, ale duvodem byl pocet falesnych reportu ne cas.

sim_time: 401
m3d commented 3 years ago

fq-6pts

0:39:45.513922 received: ['TYPE_HELMET', [18087, -51516, 986], 'F10W600RH400LH3600W', True]
0:46:24.915387 received: ['TYPE_HELMET', [11963, -77691, 115], 'F10W600RH400LH3600W', False]
0:49:50.057717 received: ['TYPE_VENT', [19592, 41888, 283], 'E60W1750LH1550RH3600W', None]
0:49:51.356024 received: ['TYPE_VENT', [19592, 41888, 283], 'E60W1750LH1550RH3600W', False]
0:51:35.984270 received: ['TYPE_BACKPACK', [36132, 29779, 1155], 'E60W1750LH1550RH3600W', True]
0:52:30.449131 received: ['TYPE_CUBE', [11836, -59815, 460], 'D0W1700RH1500LH3600W', False]
0:55:39.174179 received: ['TYPE_PHONE', [25636, 29309, 18], 'E60W1750LH1550RH3600W', False]
1:06:55.485255 received: ['TYPE_BACKPACK', [56075, 19515, 343], 'E60W1750LH1550RH3600W', False]
1:24:33.988029 received: ['TYPE_CUBE', [88769, 35020, 81], 'E60W1750LH1550RH3600W', False]
1:24:33.993473 received: ['TYPE_CUBE', [88769, 35020, 81], 'E60W1750LH1550RH3600W', None]
1:27:09.309757 received: ['TYPE_EXTINGUISHER', [41138, -21050, 5122], 'D0W1700RH1500LH3600W', True]
1:29:00.022875 received: ['TYPE_VENT', [90802, 18230, 1367], 'E60W1750LH1550RH3600W', True]
1:37:57.548725 received: ['TYPE_BACKPACK', [85218, 35254, 342], 'E60W1750LH1550RH3600W', False]
1:46:28.131963 received: ['TYPE_BACKPACK', [38782, -20527, 5084], 'F10W600RH400LH3600W', False]
1:49:13.884111 received: ['TYPE_ROPE', [91053, -3172, 4830], 'D0W1700RH1500LH3600W', False]
1:55:47.631653 received: ['TYPE_DRILL', [110536, -19917, 6613], 'D0W1700RH1500LH3600W', True]
2:01:11.974088 received: ['TYPE_ROPE', [48624, 35844, 719], 'A100W900LH700RH3600W', False]
2:10:56.857852 received: ['TYPE_VENT', [58704, 31890, 169], 'A100W900LH700RH3600W', False]
2:13:59.826667 received: ['TYPE_DRILL', [30705, -365, 3186], 'E60W1750LH1550RH3600W', None]
2:14:00.796302 received: ['TYPE_DRILL', [30705, -365, 3186], 'E60W1750LH1550RH3600W', False]
2:22:06.040662 received: ['TYPE_DRILL', [47886, -25604, 5047], 'E60W1750LH1550RH3600W', False]
2:22:57.309241 received: ['TYPE_DRILL', [38868, -21314, 5177], 'E60W1750LH1550RH3600W', False]
2:28:50.096981 received: ['TYPE_DRILL', [77390, -20251, 5003], 'E60W1750LH1550RH3600W', False]
2:30:39.075504 received: ['TYPE_DRILL', [73061, -22125, 4960], 'E60W1750LH1550RH3600W', False]
2:37:26.633747 received: ['TYPE_RESCUE_RANDY', [141174, -3144, 97], 'D0W1700RH1500LH3600W', True]
2:46:39.518487 received: ['TYPE_VENT', [42688, 35829, 1287], 'A100W900LH700RH3600W', False]
2:51:52.184015 received: ['TYPE_DRILL', [98021, 276, 5004], 'E60W1750LH1550RH3600W', None]
2:51:52.184015 received: ['TYPE_DRILL', [97580, 523, 4821], 'D0W1700RH1500LH3600W', None]
2:51:52.220958 received: ['TYPE_DRILL', [98021, 276, 5004], 'E60W1750LH1550RH3600W', False]
2:51:52.307354 received: ['TYPE_DRILL', [97580, 523, 4821], 'D0W1700RH1500LH3600W', False]
m3d commented 3 years ago

Po fixu parstovani oriznuteho state.tlog: state tlog

m3d commented 3 years ago

Potvrzuji, ze 4 chybne reporty jsou breadcrumbs:

2:14:00.796302 received: ['TYPE_DRILL', [30705, -365, 3186], 'E60W1750LH1550RH3600W', False]
D0W1700RH1500LH3600W__breadcrumb___2: 30.54 -0.30 3.19
2:22:06.040662 received: ['TYPE_DRILL', [47886, -25604, 5047], 'E60W1750LH1550RH3600W', False]
D0W1700RH1500LH3600W__breadcrumb___3: 47.80 -25.03 5.00
2:22:57.309241 received: ['TYPE_DRILL', [38868, -21314, 5177], 'E60W1750LH1550RH3600W', False]
2:28:50.096981 received: ['TYPE_DRILL', [77390, -20251, 5003], 'E60W1750LH1550RH3600W', False]
D0W1700RH1500LH3600W__breadcrumb___4: 77.13 -20.24 5.00
2:30:39.075504 received: ['TYPE_DRILL', [73061, -22125, 4960], 'E60W1750LH1550RH3600W', False]
2:51:52.220958 received: ['TYPE_DRILL', [98021, 276, 5004], 'E60W1750LH1550RH3600W', False]
E60W1750LH1550RH3600W__breadcrumb___4: 98.41 0.51 5.00
2:51:52.307354 received: ['TYPE_DRILL', [97580, 523, 4821], 'D0W1700RH1500LH3600W', False]
m3d commented 3 years ago 
python -m osgar.logger FQ\ver106exp\A100W900LH700RH3600W.log --stream detector.localized_artf

1:52:39.761144 53 ['TYPE_BACKPACK', [36.04172682326103, 29.325486499773085, 1.095033149944499]]
1:52:41.256378 53 ['TYPE_BACKPACK', [35.982242744635315, 29.385901427569664, 1.1177521624101565]]
1:52:42.656163 53 ['TYPE_BACKPACK', [35.96489768324425, 29.413970358213252, 1.1227489342053187]]
1:52:43.757470 53 ['TYPE_BACKPACK', [35.97781011721912, 29.41504552041739, 1.1169541291019285]]
...
1:53:57.908511 53 ['TYPE_BACKPACK', [35.953764098866465, 29.419757256140393, 1.1021666093028535]]
1:53:59.341221 53 ['TYPE_BACKPACK', [35.96597982063506, 29.379261713422625, 1.0987563223645145]]
1:54:00.679330 53 ['TYPE_BACKPACK', [35.998923557995276, 29.40636059501614, 1.1111249983606934]]
1:54:01.809967 53 ['TYPE_BACKPACK', [36.08363976084756, 29.38240874569709, 1.0961449146038258]]
2:00:22.517826 53 ['TYPE_ROPE', [48.62382373888843, 35.84364922364098, 0.7188315368921256]]
2:00:24.238202 53 ['TYPE_ROPE', [48.70185420298868, 35.816490808947606, 0.6449153243093231]]
2:10:07.928193 53 ['TYPE_VENT', [58.703801009685534, 31.89048257863765, 0.1687569583794526]]
2:45:50.538703 53 ['TYPE_VENT', [42.68818651518559, 35.829469821298055, 1.2870826900546581]]
2:45:52.462211 53 ['TYPE_VENT', [43.07822558880378, 35.73824181438407, 1.3656319517914473]]

This is the drone report. The backpack is very stable (and valid), following artifacts are wrong. Just "thinking aloud" how many can be filtered out. Maybe we should add some reliability index?

m3d commented 3 years ago 
2:00:22.516536 58 [['rope', 0.34427687525749207, [-2, 379, 27, 485]]]
2:00:22.517826 53 ['TYPE_ROPE', [48.62382373888843, 35.84364922364098, 0.7188315368921256]]
2:00:24.237287 58 [['rope', 0.3517092168331146, [1, 371, 16, 484]]]
2:00:24.238202 53 ['TYPE_ROPE', [48.70185420298868, 35.816490808947606, 0.6449153243093231]]

and

2:10:07.927579 58 [['vent', 0.12585225701332092, [6, 441, 85, 478]]]
2:10:07.928193 53 ['TYPE_VENT', [58.703801009685534, 31.89048257863765, 0.1687569583794526]]

interestingly even:

2:32:00.464923 58 [['backpack', 0.9786126613616943, [388, 242, 401, 255]]]

and finally:

2:45:50.538025 58 [['vent', 0.18651358783245087, [617, 332, 639, 393]]]
2:45:50.538703 53 ['TYPE_VENT', [42.68818651518559, 35.829469821298055, 1.2870826900546581]]
2:45:52.461574 58 [['vent', 0.4224380850791931, [605, 312, 635, 379]]]
2:45:52.462211 53 ['TYPE_VENT', [43.07822558880378, 35.73824181438407, 1.3656319517914473]]

so it is really not "reliability index"