Test 11U - With Overlaps
Truth topography: flat-topped cone with 20deg slope within a landscape of cones and craters.
Evaluation bigmap parameters: GSD = 1cm, Q = 200 (width=4m), centered at REGION.MAP, 966, 1005 (pixel/line location).
Results
Tables and Figures
10cm Tiling:
Formal Uncertainty (cm) |
CompareOBJ-RMS(cm) |
CompareOBJ-RMS with Opt Trans & Rot (cm) |
CompMapVec-RMS(cm) |
4.246 |
3.379 |
0.822 |
1.382 |
5cm Tiling:
Formal Uncertainty (cm) |
CompareOBJ-RMS(cm) |
CompareOBJ-RMS with Opt Trans & Rot (cm) |
CompMapVec-RMS(cm) |
3.726 |
1.294 |
0.642 |
1.184 |
5cm Iterations:
Iteration |
Formal Uncertainty (cm) |
CompareOBJ-RMS(cm) |
CompareOBJ-RMS with Opt Trans & Rot (cm) |
CompMapVec-RMS(cm) |
1 |
3.302 |
1.230 |
0.803 |
0.806 |
2 |
3.027 |
0.976 |
0.471 |
1.019 |
3 |
2.794 |
0.944 |
0.423 |
0.958 |
5 |
3.201 |
0.909 |
0.386 |
0.858 |
10 |
2.984 |
0.905 |
0.403 |
0.647 |
15 |
2.930 |
0.911 |
0.432 |
0.586 |
20 |
2.574 |
0.934 |
0.447 |
0.635 |
25 |
2.140 |
0.957 |
0.459 |
0.720 |
30 |
2.039 |
0.998 |
0.473 |
0.879 |
35 |
1.918 |
1.069 |
0.490 |
1.041 |
40 |
1.901 |
1.141 |
0.508 |
1.196 |
45 |
1.748 |
1.241 |
0.523 |
1.364 |
50 |
1.598 |
1.333 |
0.538 |
1.511 |
60 |
1.458 |
1.596 |
0.563 |
1.831 |
70 |
1.353 |
1.829 |
0.579 |
1.941 |
80 |
1.472 |
1.996 |
0.577 |
2.036 |
90 |
1.498 |
2.116 |
0.572 |
2.164 |
100 |
1.507 |
2.202 |
0.547 |
2.362 |
Center Traces:
CompMapVec RMS HeatMaps:
Landmark Display after 2 iterations:
Landmark Display after 10 iterations:
Landmark Display after 20 iterations:
