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Dennis Bautembach denniskb Heraklion, Crete, Greece bautembach.de My vscode theme: https://themes.vscode.one/theme/denniskb/fUwdhfiZ

denniskb/asvo 36

Accompanying source code for my bachelor's thesis "Animated Sparse Voxel Octrees".

denniskb/hy475 19

Course Website for HY475 Robotic Navigation '21. CSD-UOC

denniskb/cppmasters 4

C++ Master Class

denniskb/narrow 1

Safely convert between arithmetic types

denniskb/bsim 0

Personal fork of BSim

denniskb/denniskb.github.io 0

personal website

denniskb/neurongpu 0

Personal fork of NeuronGPU

denniskb/spice 0

A state of the art clock-based spiking neural network simulator

denniskb/uniform_real_distr 0

Drop-in replacement for std::uniform_real_distribution with proper math. properties

issue commentdenniskb/hy475

Steps 2&3 questions

This "why do we need altsea and not just compare terrain.at(particle) and terrain.at(aeroplane) ?" was just a question in case the altsea is not the altitude of the particles above sea level. I know that we are looking for the plane's location... but as you wrote I also thought that I can find the terrain.at(aeroplane) using the altsea and altGround and compare it with terrain.at(particle).

Thank you for the answers

grasstr8

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issue openeddenniskb/hy475

Steps 2&3 questions

Hi,

The altitude of the particles with respect to the sea level as far I understood is also altsea right? If not, is it random and why do we need altsea and not just compare terrain.at(particle) and terrain.at(aeroplane) ? Also is it necessary to use the fact that the highest point of the terrain is 255 m somewhere in our calculations? Could you give as a hint on why do we need it? Also it is written that: The noise's purpose is to diversify our particles helping them avoid getting stuck in local maxima. Unfortunately I don't completely understand this. Where does this local maxima refer to? to the altitude?

Thank you in advance

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issue commentdenniskb/hy475

Step 4 questions

That was really helpful, thank you!

grasstr8

comment created time in 9 days

issue openeddenniskb/hy475

Step 4 questions

Hi, I have a problem in understanding the implementation in step 4. The bucket is the prefix sum of the weights, but how is this equivalent to the second bucket in Figure 1? Since bucket is the prefix sum, then bucket[i+1] has always larger size that bucket[i] but that doesn't mean that weight i+1 is larger than weight i. So I don't understand why prefix sum scales proportionally to the particles' weights. Also about the low-variance sampling. Let's say i=2 and r=1. then we will draw from bucket r+i/N=1.02. Does this mean that we draw from bucket[1]? Finally in the method Array.lowerBound(x), why do we need to return the lowest element x?

Thank you

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starteddenniskb/hy475

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issue commentdenniskb/hy475

function h(mu)

I used "this.s" (-> g1). Thank you.

denniskb

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issue commentdenniskb/hy475

function h(mu)

I use trigonometry to find h(mu) but I dont need the chain rule at the next step. I did not use the function g2 in the expression of h(mu). Is this the wrong? I find h(mu) simple enough...

denniskb

comment created time in 21 days

issue openeddenniskb/hy475

MSE value

Hi, I am getting a MSE of ~700, but all the other expected MSE are exactly as you have written. I am having trouble to find what is going wrong, but maybe it is the h(mu). I thought is was trivial and I just had to implement the given diagram, but then h depends on only one component of mu. Could this be the mistake?

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issue commentdenniskb/hy475

Matrix Q

+1. We have calculated a relation between the observation and the angle. Given the standard deviation of the angle we have to calculate the standard deviation of the observation (obs error), right or is it something else?

CreaperLost

comment created time in 22 days

issue openeddenniskb/hy475

Matrix Q

Can you give us some directions about how to calculate the obs error?

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issue commentdenniskb/hy475

acceleration's value

Alright, thank you.

mcal1x

comment created time in 23 days

issue commentdenniskb/hy475

acceleration's value

Sorry, I meant second order Taylor expansion in my previous post! Given this, my MSE is 979 m... I dont know where is the bug. I'll try again.

mcal1x

comment created time in 23 days

issue commentdenniskb/hy475

acceleration's value

I use Taylor expansion in place of Euler integration ( first order Taylor expansion), similarly to the dragster example and I observe a MSE : 979 m... If I add 9.8 (m/s^2) to "a" (which is equal to 3.92 m/s^2) my MSE becomes 3807847 m... I understand that's wrong (we try to have a zero MSE with noise turned off), but mustn't I change the value of "a" so as it is equal to 1.4G?

mcal1x

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fork Acabaxi/hy475

Course Website for HY475 Robotic Navigation '21. CSD-UOC

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issue openeddenniskb/hy475

acceleration's value

In the picture of the rocket, the 1.4G for the acceleration is depicted but when I am printing the value of the variable with the command console.log(a) I get roughly 3.92 (m/sec^2) The conversion of the 1.4G to m/sec^2 yields 13.73 m/sec^2 Are all this correct?

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issue openeddenniskb/hy475

Matrix Q and S

We are given the matrix Q as 2x2 and the matrix S math.zeros(4, 4). Then you are asking for the matrix K, but in the equation i must add matrix Q with matrix S(after multiplying with C+CT) but they are different dimensions. Should my C matrix change the dimension of S to 2x2?

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fork Sondro/cppmasters

C++ Master Class

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issue commentdenniskb/hy475

Question about the bug

Hi,

As far I understood the mistake was in the (3,3) and (4,4) elements of the matrix R, which should be zero but in the first template they were equal to this.errEst*this.errEst. These elements affect the final result when they are multiplied with the elements (1,3),(1,4),(2,3),(2,4) of the C matrix or the corresponding elements when R is multiplied with the transpose of C. Since the observation z is the GPS signal, I thought the interpretation of the C matrix was trivial. This is also based in the implementation of the C matrix when we used the Kalman filter in the form of hand-written equations.

In general what I am trying to say is the maybe the (3,3) and (4,4) elements of the matrix R don't affect the final result in our case, meaning that we should not observe something different on the RMSE.

Am I wrong about that? Otherwise where was the mistake in the template and where did this 0.2 change come from?

I am sorry if I asked anything that it is not allowed. I am just trying to understand the origin of the change ~0.2px.

Thank you.

grasstr8

comment created time in a month

issue openeddenniskb/hy475

Question about the bug

Hi,

Unfortunately, the RMSE I obtain isn't better after I use the new template. Could it be that there is something wrong with my code? In general the RMSE I obtain is of the order ~2.7px to 2.8px. Does is it need to be lower?

Could you tell us roughly how much the RMSE will decrease after we use the new template? Will it be of the order 0.1px or higher?

Thank you.

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issue commentdenniskb/hy475

MU state Matrix : 4th position w=1

Hello. I would like to ask you about B and u matrices. Isn't it right that B is an (4x1) and u an (1x1) matrix? Our control input is "deltaDir", isn't it? (Please forgive me if i am not allowed to ask about the answer and give me same clues) Thank you!

CreaperLost

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