odom : reached x = 5.52 m, true y = 1.401 m, estimate-vs-truth error 0.905 m, crashed into the wall: True, minimum wall gap -0.1 cm
gyro : reached x = 20.00 m, true y = -0.949 m, estimate-vs-truth error 1.474 m, crashed into the wall: False, minimum wall gap 89.2 cm
ekf  : reached x = 20.00 m, true y = 0.516 m, estimate-vs-truth error 0.053 m, crashed into the wall: False, minimum wall gap 87.5 cm
odom : final estimate-minus-truth: dx 8.6 cm, dy -90.1 cm, dtheta -15.76 deg
gyro : final estimate-minus-truth: dx 2.4 cm, dy 147.4 cm, dtheta 8.47 deg
ekf  : final estimate-minus-truth: dx -5.3 cm, dy 0.6 cm, dtheta 0.22 deg
EKF final sigma (x, y, theta): [1.34 0.34] cm 0.143 deg
EKF gyro-bias estimate at 20 m over 20 runs: mean 0.00354 rad/s, std 0.00018 (true 0.0035)
Unit 8 open-loop 20 m, 0.5% radius error, no slip: odometry error 6.188 m
odom : 60 runs, final error median 0.902 m, mean 0.902, 90th percentile 0.903 m ; crashes 60/60
gyro : 60 runs, final error median 1.389 m, mean 1.392, 90th percentile 1.492 m ; crashes 0/60
ekf  : 60 runs, final error median 0.050 m, mean 0.049, 90th percentile 0.056 m ; crashes 0/60
EKF lateral error std over runs: 0.003 m ; mean reported sigma_y: 0.0034 m
R5 limit (10 percent of 20 m): 2.0 m
wall range every  0.2 s: median final error 0.048 m, crashes 0/20
wall range every  1.0 s: median final error 0.050 m, crashes 0/20
wall range every  5.0 s: median final error 0.053 m, crashes 0/20
wall range every 20.0 s: median final error 0.060 m, crashes 0/20
saved /home/user/Documents/DOCUMENTS_SERVER/SKILL_TRAINING/Internet of Things (IoT) and Robotics/sessions/010-unit10-perception/figures/fig05_ekf_patrol.png
