Test 11U Results

Truth topography: flat-topped cone with 20deg slope. Model bigmap parameters: GSD = 5cm, Q = 49 (width=4.9m).

Note: Image auto-alignment conducted after iteration 30 and 50.

Iteration	CompareOBJ-RMS(cm)	CompareOBJ-RMS with Opt Trans &Rot (cm)	CompMapVec-RMS(cm)	Notes
1	23.51	5.01	21.73	manual image-alignment
2	18.90	5.17	15.55
3	16.16	4.43	11.42
4	14.31	3.86	8.21
5	13.00	3.41	5.76
6	11.91	3.02	3.61
7	11.02	2.67	1.83
8	10.28	2.39	0.29
9	9.62	2.14	1.09
10	9.03	1.91	2.24
11	8.51	1.70	3.20
12	8.04	1.51	4.08
13	7.65	1.35	4.90
14	7.30	1.21	5.66
15	7.00	1.07	6.32
16	6.73	0.96	6.87
17	6.50	0.85	7.38
18	6.30	0.76	7.88
19	6.14	0.72	8.26
20	6.02	0.64	8.62
30	5.86	0.64	10.65
31	5.83	0.66	10.27	images auto-aligned
40	6.13	0.80	10.58
50	5.32	0.93	10.75
51	6.31	0.93	10.33	images auto-aligned
60	6.42	0.96	10.66
70	6.47	0.99	10.92
80	6.55	1.01	10.99
90	6.62	1.03	11.13
100	6.72	1.02	11.19

Center Traces:

Note: Image auto-alignment conducted after iteration 30 and 50.

Traces Running North-South:

Traces Running West-East:

Landmark Display after 1 iteration:

Landmark Display after 10 iterations:

Landmark Display after 50 iterations:

Landmark Display after 100 iterations:

CompMapVecRMS HeatMaps: