Commit 322107c7 authored by cn1n18's avatar cn1n18

Update root.tex

parent 6cec895b
......@@ -205,7 +205,7 @@ All the data from the rotary encoder and IMU streams were time synchronized with
\begin{figure*}
\centering
\includegraphics[width=.75\textwidth]{figs/example-frames.png}
\includegraphics[width=.75\textwidth]{example-frames.png}
\caption{\textbf{Examples from the forest environment dataset.} A diverse set of scenes in RGB (left), and the aligned depth in grayscale (middle) and color (right), were recorded in the forest. In grayscale, lighter pixels indicate regions further from the camera, and white pixels are out of range. The gradients in depth are better illustrated in color, with brighter colored pixels indicating regions closer to the camera. In both color schemes, black pixels indicate the depth could not be estimated.}
\label{fig:example-frames}
\end{figure*}
......@@ -222,7 +222,7 @@ To assess the image quality of the depth data in our forest environment dataset
\begin{figure}[htbp]
\centering
\includegraphics[width=3.2in]{figs/velocity-acceleration.pdf}
\includegraphics[width=3.2in]{velocity-acceleration.pdf}
\caption{\textbf{Velocity and acceleration of the mobile sensor platform.} The linear velocity and acceleration of the mobile sensor platform in the forward direction, while being pushed through the forest. Data for the distribution was aggregated across all five runs of the dataset. Instantaneous velocity and acceleration were estimated with the rotatory encoder position sensor.}
\label{fig:platform-speed}
\end{figure}
......@@ -243,7 +243,7 @@ Our analysis suggest a good quality of depth data of the forest environment, wit
\begin{figure}
\centering
\includegraphics[width=3in]{figs/depth-points.png}
\includegraphics[width=3in]{depth-points.png}
\caption{\textbf{Position of sampled points for accuracy of depth images.} Nine points at varying depth and positions were sampled from a typical forest scene. Points 1, 3, 5 and 7 are on a fallen tree brach, points 4 and 6 are part of the forest floor, particularly close to the camera, and points 2, 8 and 9 are located on tree trunks close to the ground. The points 4 and 8, are nearest to and furtherst from the camera, respectively.}
\label{fig:depth-points}
\end{figure}
......@@ -255,7 +255,7 @@ Our analysis suggest a good quality of depth data of the forest environment, wit
\begin{figure}
\centering
\includegraphics[width=3.5in]{figs/depth-error.pdf}
\includegraphics[width=3.5in]{depth-error.pdf}
\caption{\textbf{Accuracy of the depth image data.} The accuracy of depth images for nine sampled points, P1 to P9. Ground truth measurements were averaged over three replicates. Depth image data was averaged over $7 \times 7$ pixels surrounding the focal point and over two replicates. Points on the diagonal dotted line indicate depth estimates identical to ground truth measurements.}
\label{fig:depth-error}
\end{figure}
......
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