Package com.irurueta.navigation.indoor.radiosource

Class LMedSRobustRangingRadioSourceEstimator3D<S extends RadioSource>

java.lang.Object

com.irurueta.navigation.indoor.radiosource.RobustRadioSourceEstimator<com.irurueta.geometry.Point3D,RangingReadingLocated<S,com.irurueta.geometry.Point3D>,RobustRangingRadioSourceEstimatorListener<S,com.irurueta.geometry.Point3D>>

com.irurueta.navigation.indoor.radiosource.RobustRangingRadioSourceEstimator<S,com.irurueta.geometry.Point3D>

com.irurueta.navigation.indoor.radiosource.RobustRangingRadioSourceEstimator3D<S>

com.irurueta.navigation.indoor.radiosource.LMedSRobustRangingRadioSourceEstimator3D<S>

Type Parameters:

S - a RadioSource type.

public class LMedSRobustRangingRadioSourceEstimator3D<S extends RadioSource>
extends RobustRangingRadioSourceEstimator3D<S>

Robustly estimated 3D position of a radio source (e.g. Wi-Fi access point or bluetooth beacon), by discarding outliers using LMedS algorithm.

Nested Class Summary

Nested classes/interfaces inherited from class com.irurueta.navigation.indoor.radiosource.RobustRangingRadioSourceEstimator

RobustRangingRadioSourceEstimator.Solution<P extends com.irurueta.geometry.Point<?>>

Field Summary

Fields

Modifier and Type	Field	Description
static final double	DEFAULT_STOP_THRESHOLD	Default value to be used for stop threshold.
static final double	MIN_STOP_THRESHOLD	Minimum allowed stop threshold value.
private double	stopThreshold	Threshold to be used to keep the algorithm iterating in case that best estimated threshold using median of residuals is not small enough.

Fields inherited from class com.irurueta.navigation.indoor.radiosource.RobustRangingRadioSourceEstimator3D

innerEstimator

Fields inherited from class com.irurueta.navigation.indoor.radiosource.RobustRangingRadioSourceEstimator

DEFAULT_USE_READING_POSITION_COVARIANCES, initialPosition, useReadingPositionCovariances

Fields inherited from class com.irurueta.navigation.indoor.radiosource.RobustRadioSourceEstimator

confidence, covariance, DEFAULT_CONFIDENCE, DEFAULT_KEEP_COVARIANCE, DEFAULT_MAX_ITERATIONS, DEFAULT_PROGRESS_DELTA, DEFAULT_REFINE_RESULT, DEFAULT_ROBUST_METHOD, estimatedPosition, estimatedPositionCovariance, inliersData, keepCovariance, listener, locked, MAX_CONFIDENCE, MAX_PROGRESS_DELTA, maxIterations, MIN_CONFIDENCE, MIN_ITERATIONS, MIN_PROGRESS_DELTA, preliminarySubsetSize, progressDelta, readings, refineResult

Constructor Summary

Constructors

Constructor	Description
LMedSRobustRangingRadioSourceEstimator3D()	Constructor.
LMedSRobustRangingRadioSourceEstimator3D(com.irurueta.geometry.Point3D initialPosition)	Constructor.
LMedSRobustRangingRadioSourceEstimator3D(com.irurueta.geometry.Point3D initialPosition, RobustRangingRadioSourceEstimatorListener<S,com.irurueta.geometry.Point3D> listener)	Constructor.
LMedSRobustRangingRadioSourceEstimator3D(RobustRangingRadioSourceEstimatorListener<S,com.irurueta.geometry.Point3D> listener)	Constructor.
LMedSRobustRangingRadioSourceEstimator3D(List<? extends RangingReadingLocated<S,com.irurueta.geometry.Point3D>> readings)	Constructor.
LMedSRobustRangingRadioSourceEstimator3D(List<? extends RangingReadingLocated<S,com.irurueta.geometry.Point3D>> readings, com.irurueta.geometry.Point3D initialPosition)	Constructor.
LMedSRobustRangingRadioSourceEstimator3D(List<? extends RangingReadingLocated<S,com.irurueta.geometry.Point3D>> readings, com.irurueta.geometry.Point3D initialPosition, RobustRangingRadioSourceEstimatorListener<S,com.irurueta.geometry.Point3D> listener)	Constructor.
LMedSRobustRangingRadioSourceEstimator3D(List<? extends RangingReadingLocated<S,com.irurueta.geometry.Point3D>> readings, RobustRangingRadioSourceEstimatorListener<S,com.irurueta.geometry.Point3D> listener)	Constructor.

Method Summary

Modifier and Type	Method	Description
void	estimate()	Robustly estimates position for a radio source.
com.irurueta.numerical.robust.RobustEstimatorMethod	getMethod()	Returns method being used for robust estimation.
double	getStopThreshold()	Returns threshold to be used to keep the algorithm iterating in case that best estimated threshold using median of residuals is not small enough.
void	setStopThreshold(double stopThreshold)	Sets threshold to be used to keep the algorithm iterating in case that best estimated threshold using median of residuals is not small enough.

Methods inherited from class com.irurueta.navigation.indoor.radiosource.RobustRangingRadioSourceEstimator3D

attemptRefine, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, getEstimatedRadioSource, getMinReadings, getNumberOfDimensions, isHomogeneousLinearSolverUsed, setHomogeneousLinearSolverUsed, solvePreliminarySolutions

Methods inherited from class com.irurueta.navigation.indoor.radiosource.RobustRangingRadioSourceEstimator

getInitialPosition, getUseReadingPositionCovariance, isReady, residual, setInitialPosition, setUseReadingPositionCovariances

Methods inherited from class com.irurueta.navigation.indoor.radiosource.RobustRadioSourceEstimator

areValidReadings, getConfidence, getCovariance, getEstimatedPosition, getEstimatedPositionCovariance, getInliersData, getListener, getMaxIterations, getPreliminarySubsetSize, getProgressDelta, getQualityScores, getReadings, internalSetReadings, isCovarianceKept, isLocked, isResultRefined, setConfidence, setCovarianceKept, setListener, setMaxIterations, setPreliminarySubsetSize, setProgressDelta, setQualityScores, setReadings, setResultRefined

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Field Details

DEFAULT_STOP_THRESHOLD

public static final double DEFAULT_STOP_THRESHOLD

Default value to be used for stop threshold. Stop threshold can be used to avoid keeping the algorithm unnecessarily iterating in case that best estimated threshold using median of residuals is not small enough. Once a solution is found that generates a threshold below this value, the algorithm will stop. The stop threshold can be used to prevent the LMedS algorithm iterating too many times in cases where samples have a very similar accuracy. For instance, in cases where proportion of outliers is very small (close to 0%), and samples are very accurate (i.e. 1e-6), the algorithm would iterate for a long time trying to find the best solution when indeed there is no need to do that if a reasonable threshold has already been reached. Because of this behaviour the stop threshold can be set to a value much lower than the one typically used in RANSAC, and yet the algorithm could still produce even smaller thresholds in estimated results.

See Also:

• Constant Field Values

MIN_STOP_THRESHOLD

public static final double MIN_STOP_THRESHOLD

Minimum allowed stop threshold value.

See Also:

• Constant Field Values

stopThreshold

private double stopThreshold

Threshold to be used to keep the algorithm iterating in case that best estimated threshold using median of residuals is not small enough. Once a solution is found that generates a threshold below this value, the algorithm will stop. The stop threshold can be used to prevent the LMedS algorithm iterating too many times in cases where samples have a very similar accuracy. For instance, in cases where proportion of outliers is very small (close to 0%), and samples are very accurate (i.e. 1e-6), the algorithm would iterate for a long time trying to find the best solution when indeed there is no need to do that if a reasonable threshold has already been reached. Because of this behaviour the stop threshold can be set to a value much lower than the one typically used in RANSAC, and yet the algorithm could still produce even smaller thresholds in estimated results.

Constructor Details

LMedSRobustRangingRadioSourceEstimator3D

public LMedSRobustRangingRadioSourceEstimator3D()

Constructor.

LMedSRobustRangingRadioSourceEstimator3D

public LMedSRobustRangingRadioSourceEstimator3D(List<? extends RangingReadingLocated<S,com.irurueta.geometry.Point3D>> readings)

Constructor. Sets radio signal ranging readings belonging to the same radio source.

Parameters:

readings - radio signal ranging readings belonging to the same radio source.

Throws:

IllegalArgumentException - if readings are not valid.

LMedSRobustRangingRadioSourceEstimator3D

public LMedSRobustRangingRadioSourceEstimator3D(RobustRangingRadioSourceEstimatorListener<S,com.irurueta.geometry.Point3D> listener)

Constructor.

Parameters:

listener - listener in charge of attending events raised by this instance.

LMedSRobustRangingRadioSourceEstimator3D

public LMedSRobustRangingRadioSourceEstimator3D(List<? extends RangingReadingLocated<S,com.irurueta.geometry.Point3D>> readings,
 RobustRangingRadioSourceEstimatorListener<S,com.irurueta.geometry.Point3D> listener)

Constructor. Sets radio signal readings belonging to the same radio source.

Parameters:

readings - radio signal readings belonging to the same radio source.

listener - listener in charge of attending events raised by this instance.

Throws:

IllegalArgumentException - if readings are not valid.

LMedSRobustRangingRadioSourceEstimator3D

public LMedSRobustRangingRadioSourceEstimator3D(com.irurueta.geometry.Point3D initialPosition)

Constructor.

Parameters:

initialPosition - initial position to start the estimation or radio source position.

LMedSRobustRangingRadioSourceEstimator3D

public LMedSRobustRangingRadioSourceEstimator3D(List<? extends RangingReadingLocated<S,com.irurueta.geometry.Point3D>> readings,
 com.irurueta.geometry.Point3D initialPosition)

Constructor.

Sets radio signal readings belonging to the same radio source.

Parameters:

readings - radio signal readings belonging to the same radio source.

initialPosition - initial position to start the estimation of radio source position.

Throws:

IllegalArgumentException - if readings are not valid.

LMedSRobustRangingRadioSourceEstimator3D

public LMedSRobustRangingRadioSourceEstimator3D(com.irurueta.geometry.Point3D initialPosition,
 RobustRangingRadioSourceEstimatorListener<S,com.irurueta.geometry.Point3D> listener)

Constructor.

Parameters:

initialPosition - initial position to start the estimation of radio source position.

listener - listener in charge of attending events raised by this instance.

LMedSRobustRangingRadioSourceEstimator3D

public LMedSRobustRangingRadioSourceEstimator3D(List<? extends RangingReadingLocated<S,com.irurueta.geometry.Point3D>> readings,
 com.irurueta.geometry.Point3D initialPosition,
 RobustRangingRadioSourceEstimatorListener<S,com.irurueta.geometry.Point3D> listener)

Constructor. Sets radio signal ranging readings belonging to the same radio source.

Parameters:

readings - radio signal ranging readings belonging to the same radio source.

initialPosition - initial position to start the estimation of radio source position.

listener - listener in charge of attending events raised by this instance.

Throws:

IllegalArgumentException - if readings are not valid.

Method Details

getStopThreshold

public double getStopThreshold()

Returns threshold to be used to keep the algorithm iterating in case that best estimated threshold using median of residuals is not small enough. Once a solution is found that generates a threshold below this value, the algorithm will stop. The stop threshold can be used to prevent the LMedS algorithm to iterate too many times in cases where samples have a very similar accuracy. For instance, in cases where proportion of outliers is very small (close to 0%), and samples are very accurate (i.e. 1e-6), the algorithm would iterate for a long time trying to find the best solution when indeed there is no need to do that if a reasonable threshold has already been reached. Because of this behaviour the stop threshold can be set to a value much lower than the one typically used in RANSAC, and yet the algorithm could still produce even smaller thresholds in estimated results.

Returns:

stop threshold to stop the algorithm prematurely when a certain accuracy has been reached.

setStopThreshold

public void setStopThreshold(double stopThreshold)
                      throws com.irurueta.navigation.LockedException

Sets threshold to be used to keep the algorithm iterating in case that best estimated threshold using median of residuals is not small enough. Once a solution is found that generates a threshold below this value, the algorithm will stop. The stop threshold can be used to prevent the LMedS algorithm to iterate too many times in cases where samples have a very similar accuracy. For instance, in cases where proportion of outliers is very small (close to 0%), and samples are very accurate (i.e. 1e-6), the algorithm would iterate for a long time trying to find the best solution when indeed there is no need to do that if a reasonable threshold has already been reached. Because of this behaviour the stop threshold can be set to a value much lower than the one typically used in RANSAC, and yet the algorithm could still produce even smaller thresholds in estimated results.

Parameters:

stopThreshold - stop threshold to stop the algorithm prematurely when a certain accuracy has been reached.

Throws:

IllegalArgumentException - if provided value is zero or negative.

com.irurueta.navigation.LockedException - if this solver is locked.

estimate

public void estimate()
              throws com.irurueta.navigation.LockedException,
com.irurueta.navigation.NotReadyException,
com.irurueta.numerical.robust.RobustEstimatorException

Robustly estimates position for a radio source.

Specified by:

estimate in class RobustRadioSourceEstimator<com.irurueta.geometry.Point3D,RangingReadingLocated<S extends RadioSource,com.irurueta.geometry.Point3D>,RobustRangingRadioSourceEstimatorListener<S extends RadioSource,com.irurueta.geometry.Point3D>>

Throws:

com.irurueta.navigation.LockedException - if instance is busy during estimation.

com.irurueta.navigation.NotReadyException - if estimator is not ready.

com.irurueta.numerical.robust.RobustEstimatorException - if estimation fails for any reason (i.e. numerical instability, no solution available, etc).

getMethod

public com.irurueta.numerical.robust.RobustEstimatorMethod getMethod()

Returns method being used for robust estimation.

Specified by:

getMethod in class RobustRangingRadioSourceEstimator<S extends RadioSource,com.irurueta.geometry.Point3D>

Returns:

method being used for robust estimation.