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Household Service Robotics by Xinyu Wu, Huihuan Qian, Yangsheng Xu

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3.2.7.3.2. A comparison of pair aggregation methods in physical experiments

The MVEE aggregates motion estimation results from multiple vertical line pairs using the variance minimization method. Here we compare MVEE with the results from BSP and a simple equal weighting for all (EWA) pairs. The experiment site is shown in Figure 7(a). In each trial, the robot moves 31 steps along a zigzagging poly line with a step length of 1 m for odd steps and 0.5 m for even steps (Figure 8(a)). We also repeat the experiment with three different camera resolutions: 640 × 480, 1280 × 960, and 2560 × 1920 pixels. With 10 trials for each resolution, we have a total of 30 trials.
The experimental results of the three different pair aggregation methods are shown ...

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