Project Report by Sasika Amarasinghe

Autonomous Systems - State Estimation Filter

26 Sequences

0.0747 m Avg. Improvement

Human Scene Synthetic PCD Dataset Dataset

00

sequence205

Office_001

Animation

Tracking

Measurement RMSE 0.2061 m

Kalman Filter RMSE 0.1177 m

Improvement 0.0884 m

01

sequence5

Dining-room_001

Animation

Tracking

Measurement RMSE 0.1884 m

Kalman Filter RMSE 0.1088 m

Improvement 0.0796 m

02

sequence5

Dining-room_001

Animation

Tracking

Measurement RMSE 0.1834 m

Kalman Filter RMSE 0.1183 m

Improvement 0.0651 m

03

sequence44

Dining-room_002

Animation

Tracking

Measurement RMSE 0.1893 m

Kalman Filter RMSE 0.1296 m

Improvement 0.0598 m

04

sequence44

Dining-room_002

Animation

Tracking

Measurement RMSE 0.1752 m

Kalman Filter RMSE 0.1101 m

Improvement 0.0651 m

05

sequence22

Dining-room_003

Animation

Tracking

Measurement RMSE 0.2098 m

Kalman Filter RMSE 0.1282 m

Improvement 0.0816 m

06

sequence22

Dining-room_003

Animation

Tracking

Measurement RMSE 0.1982 m

Kalman Filter RMSE 0.1268 m

Improvement 0.0715 m

07

sequence58

Office_001

Animation

Tracking

Measurement RMSE 0.1942 m

Kalman Filter RMSE 0.1246 m

Improvement 0.0696 m

08

sequence58

Office_001

Animation

Tracking

Measurement RMSE 0.1805 m

Kalman Filter RMSE 0.1160 m

Improvement 0.0645 m

09

sequence34

Dining-room_005

Animation

Tracking

Measurement RMSE 0.1917 m

Kalman Filter RMSE 0.1058 m

Improvement 0.0859 m

10

sequence23

Dining-room_003

Animation

Tracking

Measurement RMSE 0.1983 m

Kalman Filter RMSE 0.1326 m

Improvement 0.0657 m

11

sequence13

Dining-room_002

Animation

Tracking

Measurement RMSE 0.1997 m

Kalman Filter RMSE 0.1195 m

Improvement 0.0802 m

12

sequence13

Dining-room_002

Animation

Tracking

Measurement RMSE 0.1997 m

Kalman Filter RMSE 0.1388 m

Improvement 0.0608 m

13

sequence17

Dining-room_003

Animation

Tracking

Measurement RMSE 0.1814 m

Kalman Filter RMSE 0.1132 m

Improvement 0.0682 m

14

sequence17

Dining-room_003

Animation

Tracking

Measurement RMSE 0.2060 m

Kalman Filter RMSE 0.1292 m

Improvement 0.0768 m

15

sequence38

Office_001

Animation

Tracking

Measurement RMSE 0.1942 m

Kalman Filter RMSE 0.1226 m

Improvement 0.0716 m

16

sequence38

Office_001

Animation

Tracking

Measurement RMSE 0.2153 m

Kalman Filter RMSE 0.1282 m

Improvement 0.0871 m

17

sequence27

Office_001

Animation

Tracking

Measurement RMSE 0.1980 m

Kalman Filter RMSE 0.1086 m

Improvement 0.0894 m

18

sequence7

Dining-room_003

Animation

Tracking

Measurement RMSE 0.2034 m

Kalman Filter RMSE 0.1308 m

Improvement 0.0726 m

19

sequence55

Office_001

Animation

Tracking

Measurement RMSE 0.1896 m

Kalman Filter RMSE 0.1151 m

Improvement 0.0745 m

20

sequence55

Office_001

Animation

Tracking

Measurement RMSE 0.2184 m

Kalman Filter RMSE 0.1419 m

Improvement 0.0766 m

21

sequence12

Dining-room_001

Animation

Tracking

Measurement RMSE 0.1965 m

Kalman Filter RMSE 0.1165 m

Improvement 0.0801 m

22

sequence12

Dining-room_001

Animation

Tracking

Measurement RMSE 0.2101 m

Kalman Filter RMSE 0.1303 m

Improvement 0.0798 m

23

sequence5

Dining-room_003

Animation

Tracking

Measurement RMSE 0.2079 m

Kalman Filter RMSE 0.1267 m

Improvement 0.0812 m

24

sequence5

Dining-room_003

Animation

Tracking

Measurement RMSE 0.1922 m

Kalman Filter RMSE 0.1114 m

Improvement 0.0808 m

25

sequence10

Dining-room_003

Animation

Tracking

Measurement RMSE 0.1904 m

Kalman Filter RMSE 0.1244 m

Improvement 0.0660 m