Information Technology Reference
In-Depth Information
0.4
0.2
0.0
-0.2
-0.4
-0.6
-0.8
-1.0
-1.2
-1.4
Vicon
1N4T
2N8T
2N20T
Sequential
3N24T
0
25
50
75
Time [s]
(a) Estimation performed by different configurations as well as the
actual orientation given by the Vicon system
0.16
Sequential
Parallel
0.14
0.12
0.10
0.08
0.06
0.04
0.02
0.00
0
25
50
75
Time [s]
(b) Absolute error comparing the actual orientation against any
parallel implementation along with against sequential
Fig. 6. Yaw angle estimation performed by different algorithms using sFly data set to
validate parallel implementations
0.25
0.20
Ground Truth
0.15
Parallel
Sequential
0.10
0.05
0.00
-0.05
-0.10
-0.15
-0.20
0
5
10
15
20
25
30
35
40
Time [s]
(a) Yaw angle estimation performed by parallel and sequential im-
plementations as well as the actual orientation ( Ground Truth )
0.05
0.04
Parallel
Sequential
0.03
0.02
0.01
0.00
0
5
10
15
20
25
30
35
40
Time [s]
(b) Absolute error comparing the actual and estimated orientation
Fig. 7. Yaw angle estimation performed by different algorithms using QA3 data set
where the complete overlapping of the serial and parallel estimation can be seen
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