{"id":488,"date":"2017-05-12T14:56:00","date_gmt":"2017-05-12T14:56:00","guid":{"rendered":"http:\/\/mrsdprojects.ri.cmu.edu\/2016teamb\/?page_id=488"},"modified":"2017-06-17T15:31:30","modified_gmt":"2017-06-17T15:31:30","slug":"results","status":"publish","type":"page","link":"https:\/\/mrsdprojects.ri.cmu.edu\/2016teamb\/results\/","title":{"rendered":"Results"},"content":{"rendered":"<p><a href=\"http:\/\/mrsdprojects.ri.cmu.edu\/2016teamb\/wp-content\/uploads\/sites\/13\/2017\/05\/poster.pdf\"><\/a><\/p>\n<h2>Report<\/h2>\n<p>Check out our final project <a href=\"http:\/\/mrsdprojects.ri.cmu.edu\/2016teamb\/wp-content\/uploads\/sites\/13\/2017\/05\/FinalReport.pdf\">report<\/a> and <a href=\"http:\/\/mrsdprojects.ri.cmu.edu\/2016teamb\/wp-content\/uploads\/sites\/13\/2017\/05\/poster.pdf\">poster!<\/a><\/p>\n<h2>Spring Validation Experiment<\/h2>\n<p>The spring validation experiment videos are seen below. These videos demonstrate the performance of the full system, including online map generation, localization performance validation, and autonomous exploration in simulation.<\/p>\n<p>https:\/\/www.youtube.com\/watch?v=eN4vnYmoY2k<\/p>\n<p>https:\/\/www.youtube.com\/watch?v=oJwNwsTwP_w<\/p>\n<p>https:\/\/www.youtube.com\/watch?v=r5va7mgXalQ<\/p>\n<h2>Localization Performance<\/h2>\n<figure id=\"attachment_490\" aria-describedby=\"caption-attachment-490\" style=\"width: 660px\" class=\"wp-caption alignnone\"><img loading=\"lazy\" decoding=\"async\" class=\"size-large wp-image-490\" src=\"http:\/\/mrsdprojects.ri.cmu.edu\/2016teamb\/wp-content\/uploads\/sites\/13\/2017\/05\/Screen-Shot-2017-05-12-at-8.55.09-AM-1024x437.png\" alt=\"\" width=\"660\" height=\"282\" srcset=\"https:\/\/mrsdprojects.ri.cmu.edu\/2016teamb\/wp-content\/uploads\/sites\/13\/2017\/05\/Screen-Shot-2017-05-12-at-8.55.09-AM-1024x437.png 1024w, https:\/\/mrsdprojects.ri.cmu.edu\/2016teamb\/wp-content\/uploads\/sites\/13\/2017\/05\/Screen-Shot-2017-05-12-at-8.55.09-AM-300x128.png 300w, https:\/\/mrsdprojects.ri.cmu.edu\/2016teamb\/wp-content\/uploads\/sites\/13\/2017\/05\/Screen-Shot-2017-05-12-at-8.55.09-AM-768x328.png 768w, https:\/\/mrsdprojects.ri.cmu.edu\/2016teamb\/wp-content\/uploads\/sites\/13\/2017\/05\/Screen-Shot-2017-05-12-at-8.55.09-AM.png 1744w\" sizes=\"auto, (max-width: 660px) 100vw, 660px\" \/><figcaption id=\"caption-attachment-490\" class=\"wp-caption-text\">Distance from ground truth(m) vs time(s) in brown. In green is the distance from ground truth divided by distance traveled(m\/m) vs time(s)<\/figcaption><\/figure>\n<p>The system performed well and met all of its performance requirements. The figure above shows odometry drift error was reduced to less than 0.1m per meter traveled and that the vehicle was localized to within 3 meters of the ground truth position. It shows that by the end of the run the drift over distance traveled is about 0.08m and that the state estimate was never more than 1 meter away from the ground truth. These correspond to MPR4 and MPR8 respectively. This was validated in the flight cage using motion capture data as the ground truth.<\/p>\n","protected":false},"excerpt":{"rendered":"<p>Report Check out our final project report and poster! Spring Validation Experiment The spring validation experiment videos are seen below. These videos demonstrate the performance of the full system, including online map generation, localization performance validation, and autonomous exploration in simulation. https:\/\/www.youtube.com\/watch?v=eN4vnYmoY2k https:\/\/www.youtube.com\/watch?v=oJwNwsTwP_w https:\/\/www.youtube.com\/watch?v=r5va7mgXalQ Localization Performance The system performed well and met all of its &hellip; <a href=\"https:\/\/mrsdprojects.ri.cmu.edu\/2016teamb\/results\/\" class=\"more-link\">Continue reading <span class=\"screen-reader-text\">Results<\/span><\/a><\/p>\n","protected":false},"author":65,"featured_media":0,"parent":0,"menu_order":0,"comment_status":"closed","ping_status":"closed","template":"","meta":{"footnotes":""},"class_list":["post-488","page","type-page","status-publish","hentry"],"_links":{"self":[{"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2016teamb\/wp-json\/wp\/v2\/pages\/488","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2016teamb\/wp-json\/wp\/v2\/pages"}],"about":[{"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2016teamb\/wp-json\/wp\/v2\/types\/page"}],"author":[{"embeddable":true,"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2016teamb\/wp-json\/wp\/v2\/users\/65"}],"replies":[{"embeddable":true,"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2016teamb\/wp-json\/wp\/v2\/comments?post=488"}],"version-history":[{"count":6,"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2016teamb\/wp-json\/wp\/v2\/pages\/488\/revisions"}],"predecessor-version":[{"id":520,"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2016teamb\/wp-json\/wp\/v2\/pages\/488\/revisions\/520"}],"wp:attachment":[{"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2016teamb\/wp-json\/wp\/v2\/media?parent=488"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}