terça-feira, 7 de maio de 2013

Santos approach metric results

Greetings,

in this post i will present the results obtained bu the Santos approach from the Dietmayer Segmentation, this algorithm took a little while because it was the only one which its threshold value depends on 2 parameters, the C0 which is a constant parameter used for noise reduction (the same as in the Dietmayer Segmentation) and an additional parameter β which aims to reduce the dependence of the segmentation with respect to the distance between the laser and the objects.

Just to recall the Threshold condition:

The tests:
The procedure was similar to the testing of the other algorithms - Divied in route in 3 parts and compared the results with the ground truth results using the metric presented 2 posts ago. 

However with this particular algorithm i divided the tests in 2 parts:

  1. To inquire the influence of the C0 parameter, I fixed the value of β = 10º
  2. To inquire the influence of β, I fixed the values of C0 = 1 (m)


Complete route:

β = 10º
Minimum Energy value:  148.4237
Minimum Energy C0 value: 1.375


C0 = 1.0 m

Minimum Energy value: 222.7269
Minimum Energy β value:  5º


Comments:

  • The performance of the algorithm is far more dependable form the C0 parameter than the  β value.
  • The  β curve has a global minimum for the 5º reversal, them stabilizes, once again shows that the applied metric may not be the most appropriated for testing.

Straight road:




β = 10º
Minimum Energy value:  155.0718
Minimum Energy C0 value: 1.375



C0 = 1.0 m

Minimum Energy value: 357.3028
Minimum Energy β value:  25º and 27.5º 





Comments:
  • The  β curve has a sharp decline from 15º to 17.5º and them stabilizes again  



Roundabout approach:



β = 10º
Minimum Energy value:   129.5992
Minimum Energy C0 value: 1.75



C0 = 1.0 m

Minimum Energy value:  130.2633
Minimum Energy β value:  10º 


Comments:

  • This time the C0 presented a sinusoidal form.
  • The  β curve presented a "peak" for 15º. Pretty constant for the other  β values 




Roundabout:


β = 10º
Minimum Energy value:    146.9297
Minimum Energy C0 value: 1.375 and 1.500



C0 = 1.0 m

Minimum Energy value:   124.3453
Minimum Energy β value:   5º


Comments:

  • For this course the C0 present also small variations, minimum energy value = 146.9297 and the maximum energy value =  147.4547
  • The  β curve has a global minimum for the 5º reversal, them stabilizes, once again shows that the applied metric may not be the most appropriated for testing.




MAIN CONCLUSIONS:


  1. The performance of the algorithm is far more dependable form the C0 parameter than the  β value.
  2. Once again the results are not very satisfying - We cant conclude what is the best threshold value for the algorithm



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