Repository containing data and animation plots of the filter runs used in the evaluation of the paper at IPIN 2024 with the title: "Refinement of Sparsely Tagged Ground Truth Paths Using PDR and Particle Filter Smoothing"
Naming of trajectory files:
- Path0_10_FO.html: Path 0 using every 10th GT and method forward-only
- Path0_15_FB.html: Path 0 using every 15th GT and method forward-backward
- Path0_30_OF.html: Path 0 using every 30th GT and method optimal-forward
Plots are made using Plotly.
The data was recorded using the SensorReadoutApp.
The building.xml file contains a map of the building which can be parsed using the IndoorMapParser.
Using the building.xml file we create a boundary mesh that constraints our particle movement. I additionally exported this mesh to building.obj for easier access.
The recordings used for the evaluation can be found in the Recordings with Sparse Tagging directory.
The result runs of Table I can be found in the Particle Amount Plots directory.
The result runs of Table II can be found in the Ground Truth Sparsity directory.