Test09 OBoptimal

Goal

Kris' Results/Conclusions

Trial 1

Oboptimal_trial1Data.png

The RMS clearly goes up during iteration and shows no sign of convergence. The low RMS directly after the first tiling step was encouraging, but after closer inspection it was found that the evaluation bigmap my not have been up to par. To clarify, the evaluation bigmap used during trial 1 was only 76 by 76 cm while the truth bigmap was 25 by 25 meters. Therefore, a reason ,other than the RMS not decreasing and converging after iterations, is that the evaluation bigmap was too small compared to the truth bigmap for CompareOBJ to calculate a feasible RMS.

Trial 2

Oboptimal_trial2Data.png

For Trial 2 iterations were not performed, due to the belief that iterations are not efficiently decreasing the RMS between the evaluation bigmap and truth bigmap. However, the evaluation bigmap being so small compared to the truth bigmap may have caused the faulty iterations during Trial 1. Nonetheless, Trial 2 still produces interesting results. The