{"id":135,"date":"2017-11-17T16:45:48","date_gmt":"2017-11-17T16:45:48","guid":{"rendered":"http:\/\/mrsdprojects.ri.cmu.edu\/2017teame\/?page_id=135"},"modified":"2018-02-23T04:29:16","modified_gmt":"2018-02-23T04:29:16","slug":"fall-validation-experiment","status":"publish","type":"page","link":"https:\/\/mrsdprojects.ri.cmu.edu\/2017teame\/fall-validation-experiment\/","title":{"rendered":"Fall Test Plan"},"content":{"rendered":"

Fall Validation Experiment<\/strong><\/h2>\n

Oliver Krengel, Rohit Murthy, Chien Chi Ho, Pengsheng Guo, Vivek G R<\/span><\/p>\n

Location:<\/b> NSH B-Level, \u201ceast\u201d points outward from elevator hallway, this is the +x axis<\/span><\/p>\n

Equipment: <\/b>Sensor Infrastructure, Origin Chronos Desktop PC, Team Lo-Co vehicle, human agent wearing non-black clothing<\/span><\/p>\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n
Step<\/b><\/td>\nDescription<\/b><\/td>\nRequirement<\/b><\/td>\n<\/tr>\n
0.1<\/span><\/td>\nPlace sensor infrastructure 8 meters south and 4 meters east of SE corner of cage. \u00a0Set height to minimum, angle at 0 degrees to horizontal, 45 degrees north of west. \u00a0This point is defined as the origin.<\/span><\/td>\nnone<\/span><\/td>\n<\/tr>\n
1.1<\/span><\/td>\nMeasure points (-6,6), (-12,0), (-2,10), (-6,-10), (-10,10), and (0,20) from origin. \u00a0Mark these points on the floor with blue tape.<\/span><\/td>\nDetection error<\/span><\/td>\n<\/tr>\n
1.2.1<\/span><\/td>\nHuman agent stands at floor marker #1. \u00a0Display centroid on desktop \u2013 measure error as distance from point (8.5,0).<\/span><\/td>\nDetection error<\/span><\/td>\n<\/tr>\n
1.2.2-1.2.5<\/span><\/td>\nRepeat step [1.2.1] for points #2-#5, respectively. \u00a0Error will be measured from points (8.5,8.5), (8.5,-5.7), (-2.8,11.3), (0,14.1) in the infrastructure frame.<\/span><\/td>\nDetection error<\/span><\/td>\n<\/tr>\n
Test 1<\/span><\/td>\nMeasure error from ground truth at each point. \u00a0<\/span><\/p>\n
    \n
  • Test passes if average error is less than 0.3 meters.<\/span><\/li>\n<\/ul>\n<\/td>\n
Detection error<\/span><\/td>\n<\/tr>\n
2.1<\/span><\/td>\nHuman agent stands at floor marker #6 then walks between (0,20) and (-4,20) repeatedly 5 times.<\/span><\/td>\nTracking range<\/span><\/td>\n<\/tr>\n
Test 2<\/span><\/td>\nDisplay recorded pedestrian trajectory on desktop.<\/span><\/p>\n
    \n
  • Test fails if no centroid is apparent on the desktop.<\/span><\/li>\n
  • Test fails if centroid extrema are less than 3.4m apart for 3 or fewer of the cycles.<\/span><\/li>\n<\/ul>\n<\/td>\n
Tracking range<\/span><\/td>\n<\/tr>\n
3.1<\/span><\/td>\nHuman agent walks continuously in test area. \u00a0Capture fifty trajectory predictions and measured against detection 2 seconds in the future.<\/span><\/td>\nTrajectory prediction<\/span><\/td>\n<\/tr>\n
Test 3<\/span><\/td>\nMeasure estimated position 2 seconds in the future against detected position.<\/span><\/p>\n
    \n
  • Test passes if average error for 5 tests is less than 0.5 meters.<\/span><\/li>\n<\/ul>\n<\/td>\n
Trajectory prediction<\/span><\/td>\n<\/tr>\n
4.1<\/span><\/td>\nHuman agent walks out of range to the north, behind wall to restroom if necessary.<\/span><\/td>\nCycle time<\/span><\/td>\n<\/tr>\n
4.2<\/span><\/td>\nHuman agent walks back into range toward the infrastructure.<\/span><\/td>\nCycle time<\/span><\/td>\n<\/tr>\n
Test 4<\/span><\/td>\nDisplay tracking information on desktop.<\/span><\/p>\n
    \n
  • Test passes if first timestamped centroid and first published trajectory are less than 1 second apart.<\/span><\/li>\n<\/ul>\n<\/td>\n
Cycle time<\/span><\/td>\n<\/tr>\n
5.1<\/span><\/td>\nSet vehicle center 1.5 meters east of east cage wall, 18 meters north of infrastructure. \u00a0Human agent stands 10 meters west of infrastructure, 1 meter south of south cage wall.<\/span><\/td>\nStop short<\/span><\/td>\n<\/tr>\n
Test 5<\/span><\/td>\nRefer to diagram below for clarity on positioning.<\/span><\/p>\n

Set vehicle waypoint to (-2.5, 0). \u00a0Start vehicle. \u00a0Vehicle runs at 3 m\/s.<\/span><\/p>\n

Reset vehicle. Set vehicle waypoint to (-2.5,0). \u00a0Start vehicle. \u00a0Human agent starts walking east 2 seconds after vehicle start at a speed of ~1.5 m\/s.<\/span><\/p>\n

    \n
  • Test passes if vehicle reaches waypoint on first pass, stops short on second pass.<\/span><\/li>\n<\/ul>\n<\/td>\n
Stop short<\/span><\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n

\"\"<\/p>\n

 <\/p>\n

Spring Validation Experiment<\/strong><\/h3>\n

Oliver Krengel, Rohit Murthy, Chien Chi Ho, Pengsheng Guo, Vivek G R<\/p>\n\n\n\n\n\t\n\n\t\n\t\n\t\n\t\n\t
Requirement
\n<\/th>		Test<\/th>\n<\/tr>\n<\/thead>\n
Detect Multiple Pedestrians\u2019 Centroid<\/td>Display 4 pedestrians centroids @ measured floor points<\/td>\n<\/tr>\n
Track Multiple Pedestrians within 20m<\/td>Display 4 pedestrian centroid @ location 20m away<\/td>\n<\/tr>\n
Predict Multiple Trajectories 2 seconds into future<\/td>Display 4 pedestrian trajectories information while in infrastructure field of view<\/td>\n<\/tr>\n
Cycle time < 0.5 seconds<\/td>Timestamp first centroid, timestamp time of publish, display difference as cycle time<\/td>\n<\/tr>\n
Plan around multiple pedestrians<\/td>Test course 1 time without pedestrians
\nTest 5 times with different multiple pedestrian trajectories<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n\n","protected":false},"excerpt":{"rendered":"

Fall Validation Experiment Oliver Krengel, Rohit Murthy, Chien Chi Ho, Pengsheng Guo, Vivek G R Location: NSH B-Level, \u201ceast\u201d points outward from elevator hallway, this is the +x axis Equipment: Sensor Infrastructure, Origin Chronos Desktop PC, Team Lo-Co vehicle, human agent wearing non-black clothing Step Description Requirement 0.1 Place sensor infrastructure 8 meters south and
+ Read More<\/a><\/p>\n","protected":false},"author":112,"featured_media":0,"parent":0,"menu_order":0,"comment_status":"closed","ping_status":"closed","template":"","meta":{"footnotes":""},"class_list":["post-135","page","type-page","status-publish","hentry"],"_links":{"self":[{"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2017teame\/wp-json\/wp\/v2\/pages\/135","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2017teame\/wp-json\/wp\/v2\/pages"}],"about":[{"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2017teame\/wp-json\/wp\/v2\/types\/page"}],"author":[{"embeddable":true,"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2017teame\/wp-json\/wp\/v2\/users\/112"}],"replies":[{"embeddable":true,"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2017teame\/wp-json\/wp\/v2\/comments?post=135"}],"version-history":[{"count":7,"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2017teame\/wp-json\/wp\/v2\/pages\/135\/revisions"}],"predecessor-version":[{"id":383,"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2017teame\/wp-json\/wp\/v2\/pages\/135\/revisions\/383"}],"wp:attachment":[{"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2017teame\/wp-json\/wp\/v2\/media?parent=135"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}