Escolar Documentos
Profissional Documentos
Cultura Documentos
CarlosFelipedePaivaPerchRA153707
Professores:EleriCardozo,PauloG.PinheiroeLeonardoR.Olivi
1. Descrio
PosioInicialdoRobambientesimulador:
pose.x=2340
pose.y=1600
pose.th=0
PosioInicialdoRobambientereal:
pose.x=2340
pose.y=1600
pose.th=0
Posiodoslandmarks:
Mapadosimulador:(0,0),(0,2280),(920,2280),(920,3200),(4190,3200),(4190,2850),
(4680,2850),(4680,650),(4030,0)
Mapadoambientereal:(0,0),(0,2280),(930,2280),(930,3200),(4220,3200),(4220,
2855),(4700,2855),(4700,670),(4030,0)
2. Procedimentos
3. Resultados
ResultadosutilizandoalgoritmodeSplitandMergecomcorreo
Listagem1Vetorcontendooslandmarksreaisutilizadoparadeterminaraverossimilhana
doslandmarksencontradospelolaser.
L=
scalarstructurecontainingthefields:
x=
0
0
920 92041904190468046804030
y=
0228022803200320028502850
650 0
Listagem2Correspondnciaporverossimilhanaentrelandmarksencontradospelolaserdo
roboeoslandmarksreais
Pose=
scalarstructurecontainingthefields:
x=2340
y=1600
th=0
l=
scalarstructurecontainingthefields:
x=
4021.44686.14666.44633.34161.04144.4
y=
32.086
699.4212785.3692871.1712875.060
3224.649
Correspondencia=
scalarstructurecontainingthefields:
indice=
56789
probabilidade=
0.960850.990870.981780.935740.94801
Figura1MximaverossimilhanaPose.th=0
Listagem3Correspondnciaporverossimilhanaentrelandmarksencontradospelolaserdo
roboeoslandmarksreais
Pose=
scalarstructurecontainingthefields:
x=2340
y=1600
th=89.913
l=
scalarstructurecontainingthefields:
x=
4675.5084193.9604173.335 921.159
928.972 12.101
y=
2837.32846.43188.83180.62260.62227.5
Correspondencia=
scalarstructurecontainingthefields:
indice=
765432
probabilidade=
0.997770.990430.962130.999091.000000.98238
Figura2MximaverossimilhanaPose.th=90
Listagem4Correspondnciaporverossimilhanaentrelandmarksencontradospelolaserdo
roboeoslandmarksreais
Pose=
scalarstructurecontainingthefields:
x=2340
y=1600
th=180.09
l=
scalarstructurecontainingthefields:
x=
953.984935.058
40.637
44.696
y=
3189.6042282.6282255.598 12.329
Correspondencia=
scalarstructurecontainingthefields:
indice=
4321
probabilidade=
0.999691.000000.983951.00000
Figura3MximaverossimilhanaPose.th=180
7
Listagem5Correspondnciaporverossimilhanaentrelandmarksencontradospelolaserdo
roboeoslandmarksreais
Pose=
scalarstructurecontainingthefields:
x=2340
y=1600
th=270.09
l=
scalarstructurecontainingthefields:
x=
31.0084066.4464698.046
y=
37.470
50.231745.785
Correspondencia=
scalarstructurecontainingthefields:
indice=
198
probabilidade=
1.000000.988140.91119
Figura4MximaverossimilhanaPose.th=270
ResultadosutilizandoalgoritmodeSplitandMergecomerro
Listagem6Correspondnciaporverossimilhanaentrelandmarksencontradospelolaserdo
roboeoslandmarksreais
Pose=
scalarstructurecontainingthefields:
x=2340
y=1600
th=0
l=
scalarstructurecontainingthefields:
x=
4022.84688.04635.04161.84146.6
y=
30.722
698.7052872.1402875.6343226.657
Correspondencia=
scalarstructurecontainingthefields:
indice=
98765
probabilidade=
0.954960.942920.985090.991080.96037
Figura5MximaverossimilhanaPose.th=0
10
Listagem7Correspondnciaporverossimilhanaentrelandmarksencontradospelolaserdo
roboeoslandmarksreais
Pose=
scalarstructurecontainingthefields:
x=2340
y=1600
th=89.913
l=
scalarstructurecontainingthefields:
x=
4675.5084193.9604173.335 921.159
928.972
12.101
11
y=
2837.32846.43188.83180.62260.62227.5
Correspondencia=
scalarstructurecontainingthefields:
indice=
765432
probabilidade=
0.997770.990430.962130.999091.000000.98238
Figura6MximaverossimilhanaPose.th=90
12
Listagem8Correspondnciaporverossimilhanaentrelandmarksencontradospelolaserdo
roboeoslandmarksreais
Pose=
scalarstructurecontainingthefields:
x=2340
y=1600
th=179.91
l=
scalarstructurecontainingthefields:
x=
960.727910.849
14.023
38.966
42.326198.837
y=
3191.49042269.03752226.9870
110.5965 3.7142
8.4486
Correspondencia=
scalarstructurecontainingthefields:
indice=
12347
probabilidade=
1.000000.982631.000000.999750.90830
13
Figura7MximaverossimilhanaPose.th=180
Listagem9Correspondnciaporverossimilhanaentrelandmarksencontradospelolaserdo
roboeoslandmarksreais
Pose=
scalarstructurecontainingthefields:
x=2340
y=1600
th=270.09
l=
scalarstructurecontainingthefields:
x=
29.351
70.085
149.1714010.5734682.779
14
y=
36.3495 5.4583
3.1934
46.8908704.7613
Correspondencia=
scalarstructurecontainingthefields:
indice=
189
probabilidade=
1.000000.913670.82337
Figura10MximaverossimilhanaPose.th=270
15