thesis | Exploiting GPS in Monte Carlo Localization

by bluecube Python Version: Current License: No License

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kandi X-RAY | thesis Summary

thesis is a Python library. thesis has no bugs, it has no vulnerabilities and it has low support. However thesis build file is not available. You can download it from GitHub.

This is my master's thesis, titled Exploiting GPS in Monte Carlo Localization, finished, submitted and defended. Don't expect any further development in here. Abstract: This work presents two approaches for integrating data from a low cost GPS receiver in a Monte Carlo localization algorithm. Firstly, an easily applicable method based on data in the standard NMEA protocol is shown. Secondly, an original algorithm utilizing lower level pseudorange measurements accessed in binary receiver-specific format is presented. In addition, a set of tools for analysis of GPS measurement errors on receivers with SiRF III chipset was implemented. There are some some experiments with GPS in the /impl/ directory, LaTeX sources of the thesis in /tex/, and LaTeX sources for my defense slides in /slides/. If you want my experimental data and don't mind waiting, contact me at blue dot cube at seznam dot cz.

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thesis has a low active ecosystem.

It has 4 star(s) with 0 fork(s). There are 2 watchers for this library.

It had no major release in the last 6 months.

thesis has no issues reported. There are no pull requests.

It has a neutral sentiment in the developer community.

The latest version of thesis is current.

Quality

thesis has 0 bugs and 0 code smells.

Security

thesis has no vulnerabilities reported, and its dependent libraries have no vulnerabilities reported.

thesis code analysis shows 0 unresolved vulnerabilities.

There are 0 security hotspots that need review.

License

thesis does not have a standard license declared.

Check the repository for any license declaration and review the terms closely.

Without a license, all rights are reserved, and you cannot use the library in your applications.

Reuse

thesis releases are not available. You will need to build from source code and install.

thesis has no build file. You will be need to create the build yourself to build the component from source.

Top functions reviewed by kandi - BETA

kandi has reviewed thesis and discovered the below as its top functions. This is intended to give you an instant insight into thesis implemented functionality, and help decide if they suit your requirements.

Do the simulation
Return a GpsReplay instance
Calculate the Doppler error
Calculates the end of each measurement
Plots a histogram of data
Set settings for plotting
Set common plot settings
Parse a frame from a byte string
Decodes a double precision value
Convert from YYYYMM to GPS time
Match command line
Set the exit protocol
Return the status line
Return the receiver s clock offset
Parse packet from bytes
Saves all messages
Create a Time instance from the given data
Read a message from the server
Save plot
Create a message from a given byte string
Read a binary message
Pack the message
Generator for measurements
Setup logging
Load data from source file
Test if a message is in the satellite

Get all kandi verified functions for this library.

thesis Key Features

No Key Features are available at this moment for thesis.

thesis Examples and Code Snippets

No Code Snippets are available at this moment for thesis.

Community Discussions

Trending Discussions on thesis

Is it possible to create / use the V-disparity map with data from a Time of Flight sensor (instead of normally used RGB-D Stereo Vision approach)?

How to make an certain instance of a class to have only one predicate from the desired list of predicates?

Table LateX doesn't show up in the document

LaTeX tables: How to make sure text in a cell doesn't get out it?

Formatting problem in latex , pseudo code

Lag function in SPSS

Minimal `set cover` solution in Clojure

Multiple Modal Opening when Updating a Row using React

Spring JPA: change doesn't persist in OneToOne relationship

Shortest distance between two point on surface

QUESTION

Is it possible to create / use the V-disparity map with data from a Time of Flight sensor (instead of normally used RGB-D Stereo Vision approach)?

Asked 2022-Apr-16 at 09:32

I am doing my master thesis regarding floor based obstacle detection with a Time of Flight (ToF) camera.

I found out there are alot of applications that use the V- and U- Disparity map to detect and track objects and the ground plane with a stereo vision approach. They calculate the disparity with the two pictures taken and then create a Histogram of the values so in the V- Disparty map the ground plane is visible as slanted line and obstacles stand out from it. So my question is, if it is possible to generate the disparity map from the data from a time of flight camera? As far as i know those things give me back a point cloud (x,y,z coordinates from each pixel) and a amplitude image of the scene.

So the depth for the disparity in stereo vision is calculated like this:

depth = (baseline * focal length) / disparity)

A ToF camera has an objective and therefore it is using the pin hole approach to calculate the right depth. So is there any posibillity to gain a disparity map with an ToF camera?

Thanks in advance!

...

ANSWER

Answered 2022-Apr-15 at 08:37

TL;DR: No, you can't generate a disparity map from a time-of-flight camera.

I have not used many time-of-flight cameras, but the ones I have used have given me uint16 matrices. The shape of the matrices were X by Y with the uint16 values corresponding to the distance from the camera in millimeters. This is not a point cloud; it is a depth map.

Since there is only one camera, there is no disparity and thus no disparity map, but I think you know that.

To create a disparity map from the depth map, I assume you could just make up some fake distance between the cameras (baseline) and rearrange your equation from there. So it would be disparity = (fake_baseline * focal_length) / depth. From here you could calculate your U and V disparity maps like usual.

Since your baseline will be a made-up number, I have a hunch that this wouldn't be useful for ground plane detection nor object avoidance. Thus, I think you would be better off just using the depth map from the time-of-flight camera as-is.

I have not tried this before, nor ever used u-disparity maps before, so take my answer with a grain of salt (I could be wrong).

Source https://stackoverflow.com/questions/71877465

QUESTION

How to make an certain instance of a class to have only one predicate from the desired list of predicates?

Asked 2022-Apr-09 at 20:12

As part of my bachelor's thesis, I am trying to create a universal ontology for organizations (I know about the existence of The Organizational Ontology from the W3C). In the process, I came up with the following scheme (ontology drawn in pencil). The idea is to have one main entity (in my case it is the entity Workspace) for which I could set its type (organization, department, position, person, place) and which I could pair with itself (with using the typed relationship "Relation") to build any arbitrarily complex organizational structure.

I tried to translate the drawn ontology into an RDF graph using the WebVOWL online utility and this is what I got (picture of ontology).

Unfortunately, my knowledge of ontological modeling theory and semantic web technologies leaves much to be desired, and I ask people who understand them to help me.

Correct me if I'm wrong, but I have a feeling that in the ontology I've built, the Relation entity must have all the links at once. (Relation - relationType - HoldsPost, Relation - relationType - ReportsTo, Relation - relationType - subOrganization, etc.). I need the Relation entity instance to have only one relationship (For example, only Relation - relationType - HoldsPost).

Only one solution to this problem comes to mind - get rid of the HeadOf, HoldsPost, ReportsTo, .. nodes and instead add a string node in which to write the desired value, depending on the type of relationship.

So it seems that the problem is how to build an ontology that will provide a Relation instance with only one of the types listed, and not all at once.

I would be really grateful for any help and feedback.

Also I am attaching the contents of the Turtle file generated by the WebVOWL utility:

...

ANSWER

Answered 2022-Apr-09 at 20:12

You will need to add a max 1 cardinality restriction to the Relation class:

Source https://stackoverflow.com/questions/71795874

QUESTION

Table LateX doesn't show up in the document

Asked 2022-Apr-01 at 23:31

For some reason my code is not reproducing the table I wanted in the document. Only a bold line shows up but no cells or text. What am I doing wrong?

...

ANSWER

Answered 2022-Apr-01 at 23:31

That's not a bold line, that literarily is your table ... just scaled down sooooooo much by \resizebox that you can't see it. That's one of the many reasons you should never use \resizebox for elements which contain text. Other reasons are suboptimal choice of letter shapes and a ransom letter appearance to the final document with all the different font sizes.

Other problems:

\begin{document} is missing
By using l columns for your table and then even wrapping the verrrrrrrrrrrry long lines into additional tables with c columns, you are very efficiently telling latex to never ever break lines in your table. Instead you could use a column of fixed with, or - easier - use the tabularray package with an X column which will automatically calculate the width
no floating specifier like [htbp] is given

Source https://stackoverflow.com/questions/71713529

QUESTION

LaTeX tables: How to make sure text in a cell doesn't get out it?

Asked 2022-Mar-31 at 19:32

The text from some of my sells spills over the next ones. How can I make sure the text is wrap inside the same cell? Additionally, how can I make the first column wider than the others?

Here is my code:

...

ANSWER

Answered 2022-Mar-31 at 19:32

Long numbers can't be broken across lines and your page only has so much available space. A couple of strategies to nevertheless fit your table on the page:

pay attention to significant figures. Given the values of the standard deviations, it makes little sense to give all your numbers with two decimal places
decrease the padding around the vertical line (or better, have a look at the booktabs user guide which shows how professional looking tables can look like (there is a library for tabularray, so the same layout can also be done with this package))
change the ration of the column width, e.g. with X[1.3,valign=h,halign=l] for the first column
use a smaller font
make the margins smaller
use a bigger paper
I was already wondering this yesterday, but isn't it strange to have the 1-1 cell centred if the rest of the table is all left aligned?

Source https://stackoverflow.com/questions/71685432

QUESTION

Formatting problem in latex , pseudo code

Asked 2022-Mar-30 at 13:39

I am writing a report for my thesis in latex, most of the report is complete, one of the things left is to write up the pseudo-code for the algorithm used. The inserted picture is the pseudo-code I am trying to write. Main Pseudo Code example

I want a little help in writing up the for loops and figuring out the formatting, This is what I have done:

...

ANSWER

Answered 2022-Mar-30 at 13:39

\EndIf and \EndFor are missing
If you want to use math symbols like subscripts, \in or \triangle (shouldn't this rather be a delta?), you need to place them in math mode

Source https://stackoverflow.com/questions/71678170

QUESTION

Lag function in SPSS

Asked 2022-Mar-29 at 17:03

For my master's thesis I have to work with a database in order to make a logistic regression model. One of the variables of my model is NEWS, This should be a dummy variable that is equal to 1 if a company had to publish a negative net income (bad news) in a given year, which belongs to the time period of this study (2017, 2018 and 2019), while it still had a positive net income the year before (good news). The dummy is equal to 0 otherwise. Now my professor said that I had to make a dummy that is equal to one when a company had a negative net income during one of the three years, O otherwise. That part I understand. But then she also said that I had to use a LAG function in order to find out if the company had a positive net income the year before the negative net income. And that part I don't understand. I don't really understand how i should do this with the help of SPSS. Below you can find a small part of the data I have to work with.

...

ANSWER

Answered 2022-Mar-29 at 17:03

The following code will use the lag function to mark the years where the same company had a negative net income while the previous year it had a positive one:

Source https://stackoverflow.com/questions/71664897

QUESTION

Minimal `set cover` solution in Clojure

Asked 2022-Mar-25 at 11:25

I've been trying ways to distill (a lot of) database index suggestions into a set of indexes that are applicable to most databases. To do that it turns out I need to solve a pretty basic but NP complete set theory problem: the minimum set cover problem.

This means that given a set of sets, select a subset of sets s that covers a certain domain u, but if u isn't given make it the union of s. The most optimal subset of sets is the one reaching a certain minimum, usually the minimal amount of sets, but it could also be a minimum in total weight if the sets are weighted.

...

ANSWER

Answered 2022-Mar-25 at 11:25

Here's a Clojure version of the greedy set cover algorithm i.e. selects a set which covers the most uncovered elements at each iteration. Rather than use loop/recur to build the complete result, it lazily returns each result element using lazy-seq:

Source https://stackoverflow.com/questions/71600750

QUESTION

Multiple Modal Opening when Updating a Row using React

Asked 2022-Mar-19 at 10:38

I created a project using React and Bootstrap Table. Opening of modal is functional but unfortunately all the data in the table also opens their own modal.

So example I have 5 data in the table, when updating a row, the other four (4) modal also rendered and display.

The id of the data from Firestore is accessible to the child component (Edit_Modal.tsx) is there a way to add an id for the modal to make a reference to the data?

Manuscript.jsx

...

ANSWER

Answered 2022-Mar-19 at 10:38

As @adhinarayan said you can use the useState of setThesisId to get the specific ID of your document.

Example useState:

Source https://stackoverflow.com/questions/71525922

QUESTION

Spring JPA: change doesn't persist in OneToOne relationship

Asked 2022-Mar-18 at 21:20

I use Spring Boot Starter Data JPA for my thesis, and I have a bug, I can't quite work out.

I have the following relationship between my entitites:

Restaurant

...

ANSWER

Answered 2022-Mar-17 at 20:30

Just use the direct repository to persist the changes you want directly

Source https://stackoverflow.com/questions/71518472

QUESTION

Shortest distance between two point on surface

Asked 2022-Mar-15 at 16:52

I'm working on my bachelor thesis (on Computer Science) and right now I'm having a problem about finding shortest path between two points on 3D triangular mesh that is manifold. I already read about MMP, but which computes distance function $d(x)$ between given point and vertex $x$ on mesh.

I got to know that the problem I'm solving is named Geodesics but What I really couldn't find is some good algorithm which uses A* for finding shortest path between two given points on two given vertices.

I 'invented' also algorithm which uses A* by using Euclidian Distance Heuristics and correction after finding new Point on any Edge.. I also have edges saved in half-edge structure.

So my main idea is this:

We will find closest edge by A* algorithm and find on this edge point with minimalizing function $f(x) + g(x)$ where $f$ is our current distance and $g$ is heuristics(euclidean distance)
Everytime we find new edge, we will unfold current mesh and find closest path to our starting point

So now my questions:

Do you know some research paper which talks about this problem ??
Why nobody wrote about algorithm that uses A* ??
What are your opinions about algorithm I proposed ?

...

ANSWER

Answered 2022-Mar-15 at 09:55

I am no expert in the matter so read with prejudice. Also sorry this is more of a comment than answer...

First You should clarify some things:

the mesh is convex or concave?
are the path always on surface or can fly between faces on the outside (if concave) but never inside?
are the start/end points on edges of faces or can be inside?

Assuming concave, points on edges and only surface paths...

I think the graph A* approach is unusable as there is infinite possible paths between point and any edge of the same face so how you test all of them?

If you really want A* then you can do something similar to raster A*

so resample all your edges to more points

so either n points or use some density like 10 points per average edge length or some detail size.
use graph A* on resampled points (do not handle them as edges anymore)

However this will produce only close to shortest path so in order to improve the accuracy you should recursively resample the edges near used point with higher and higher density until the distance between resampled points get smaller than accuracy.

Another option would be using something similar to CCD (cyclic coordinate descent) so:

create plane that goes through your 2 points and center of your mesh
create path that goes through all intersection of plane and faces between the 2 points (use the shorter on from the 2 options)
iterativelly move intersections back and forward and use greedy approach to get the result

However this might get stuck in local minima... You could use search/fitting approaches instead but those will get very slow with increasing number of faces

I got the feeling you might also do this using RANSAC ...

From my point of view I think the first A* approach is the most promising, you just need linked list of points per each edge and one cost counter per each its point from this you can simply encode even the recursive improvement of accuracy. It can be done even in-place so no reallocation needed in the recursion ... And also the algo is not complicated so you should have no problems implementing it, and the result is guaranteed which is not the case with other approaches I mention... Another pros is that it can be used even if start/endpoint does not belong to edge...

Source https://stackoverflow.com/questions/71469503

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Vulnerabilities

No vulnerabilities reported

Install thesis

You can download it from GitHub.
You can use thesis like any standard Python library. You will need to make sure that you have a development environment consisting of a Python distribution including header files, a compiler, pip, and git installed. Make sure that your pip, setuptools, and wheel are up to date. When using pip it is generally recommended to install packages in a virtual environment to avoid changes to the system.

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