Package com.irurueta.navigation.indoor.radiosource

Class PROMedSRobustRangingRadioSourceEstimator3D<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.PROMedSRobustRangingRadioSourceEstimator3D<S>

Type Parameters:

S - a RadioSource type.

public class PROMedSRobustRangingRadioSourceEstimator3D<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 PROMedS 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[]	qualityScores	Quality scores corresponding to each provided sample.
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
PROMedSRobustRangingRadioSourceEstimator3D()	Constructor.
PROMedSRobustRangingRadioSourceEstimator3D(double[] qualityScores)	Constructor.
PROMedSRobustRangingRadioSourceEstimator3D(double[] qualityScores, com.irurueta.geometry.Point3D initialPosition)	Constructor.
PROMedSRobustRangingRadioSourceEstimator3D(double[] qualityScores, com.irurueta.geometry.Point3D initialPosition, RobustRangingRadioSourceEstimatorListener<S,com.irurueta.geometry.Point3D> listener)	Constructor.
PROMedSRobustRangingRadioSourceEstimator3D(double[] qualityScores, RobustRangingRadioSourceEstimatorListener<S,com.irurueta.geometry.Point3D> listener)	Constructor.
PROMedSRobustRangingRadioSourceEstimator3D(double[] qualityScores, List<? extends RangingReadingLocated<S,com.irurueta.geometry.Point3D>> readings)	Constructor.
PROMedSRobustRangingRadioSourceEstimator3D(double[] qualityScores, List<? extends RangingReadingLocated<S,com.irurueta.geometry.Point3D>> readings, com.irurueta.geometry.Point3D initialPosition)	Constructor.
PROMedSRobustRangingRadioSourceEstimator3D(double[] qualityScores, List<? extends RangingReadingLocated<S,com.irurueta.geometry.Point3D>> readings, com.irurueta.geometry.Point3D initialPosition, RobustRangingRadioSourceEstimatorListener<S,com.irurueta.geometry.Point3D> listener)	Constructor.
PROMedSRobustRangingRadioSourceEstimator3D(double[] qualityScores, List<? extends RangingReadingLocated<S,com.irurueta.geometry.Point3D>> readings, RobustRangingRadioSourceEstimatorListener<S,com.irurueta.geometry.Point3D> listener)	Constructor.
PROMedSRobustRangingRadioSourceEstimator3D(com.irurueta.geometry.Point3D initialPosition)	Constructor.
PROMedSRobustRangingRadioSourceEstimator3D(com.irurueta.geometry.Point3D initialPosition, RobustRangingRadioSourceEstimatorListener<S,com.irurueta.geometry.Point3D> listener)	Constructor.
PROMedSRobustRangingRadioSourceEstimator3D(RobustRangingRadioSourceEstimatorListener<S,com.irurueta.geometry.Point3D> listener)	Constructor.
PROMedSRobustRangingRadioSourceEstimator3D(List<? extends RangingReadingLocated<S,com.irurueta.geometry.Point3D>> readings)	Constructor.
PROMedSRobustRangingRadioSourceEstimator3D(List<? extends RangingReadingLocated<S,com.irurueta.geometry.Point3D>> readings, com.irurueta.geometry.Point3D initialPosition)	Constructor.
PROMedSRobustRangingRadioSourceEstimator3D(List<? extends RangingReadingLocated<S,com.irurueta.geometry.Point3D>> readings, com.irurueta.geometry.Point3D initialPosition, RobustRangingRadioSourceEstimatorListener<S,com.irurueta.geometry.Point3D> listener)	Constructor.
PROMedSRobustRangingRadioSourceEstimator3D(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[]	getQualityScores()	Returns quality scores corresponding to each pair of positions and distances (i.e. sample).
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.
private void	internalSetQualityScores(double[] qualityScores)	Sets quality scores corresponding to each provided sample.
boolean	isReady()	Indicates whether solver is ready to find a solution.
void	setQualityScores(double[] qualityScores)	Sets quality scores corresponding to each pair of positions and distances (i.e. sample).
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, residual, setInitialPosition, setUseReadingPositionCovariances

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

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

qualityScores

private double[] qualityScores

Quality scores corresponding to each provided sample. The larger the score value the better the quality of the sample.

Constructor Details

PROMedSRobustRangingRadioSourceEstimator3D

public PROMedSRobustRangingRadioSourceEstimator3D()

Constructor.

PROMedSRobustRangingRadioSourceEstimator3D

public PROMedSRobustRangingRadioSourceEstimator3D(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.

PROMedSRobustRangingRadioSourceEstimator3D

public PROMedSRobustRangingRadioSourceEstimator3D(RobustRangingRadioSourceEstimatorListener<S,com.irurueta.geometry.Point3D> listener)

Constructor.

Parameters:

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

PROMedSRobustRangingRadioSourceEstimator3D

public PROMedSRobustRangingRadioSourceEstimator3D(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.

PROMedSRobustRangingRadioSourceEstimator3D

public PROMedSRobustRangingRadioSourceEstimator3D(com.irurueta.geometry.Point3D initialPosition)

Constructor.

Parameters:

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

PROMedSRobustRangingRadioSourceEstimator3D

public PROMedSRobustRangingRadioSourceEstimator3D(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.

PROMedSRobustRangingRadioSourceEstimator3D

public PROMedSRobustRangingRadioSourceEstimator3D(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.

PROMedSRobustRangingRadioSourceEstimator3D

public PROMedSRobustRangingRadioSourceEstimator3D(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.

PROMedSRobustRangingRadioSourceEstimator3D

public PROMedSRobustRangingRadioSourceEstimator3D(double[] qualityScores)

Constructor.

Parameters:

qualityScores - quality scores corresponding to each provided sample. The larger the score value the better the quality of the sample.

Throws:

IllegalArgumentException - if quality scores is null, or length of quality scores is less than required minimum.

PROMedSRobustRangingRadioSourceEstimator3D

public PROMedSRobustRangingRadioSourceEstimator3D(double[] qualityScores,
 List<? extends RangingReadingLocated<S,com.irurueta.geometry.Point3D>> readings)

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

Parameters:

qualityScores - quality scores corresponding to each provided sample. The larger the score value the better the quality of the sample.

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

Throws:

IllegalArgumentException - if readings are not valid, quality scores is null, or length of quality scores is less than required minimum.

PROMedSRobustRangingRadioSourceEstimator3D

public PROMedSRobustRangingRadioSourceEstimator3D(double[] qualityScores,
 RobustRangingRadioSourceEstimatorListener<S,com.irurueta.geometry.Point3D> listener)

Constructor.

Parameters:

qualityScores - quality scores corresponding to each provided sample. The larger the score value the better the quality of the sample.

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

Throws:

IllegalArgumentException - if quality scores is null, or length of quality scores is less than required minimum.

PROMedSRobustRangingRadioSourceEstimator3D

public PROMedSRobustRangingRadioSourceEstimator3D(double[] qualityScores,
 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:

qualityScores - quality scores corresponding to each provided sample. The larger the score value the better the quality of the sample.

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, quality scores is null, or length of quality scores is less than required minimum.

PROMedSRobustRangingRadioSourceEstimator3D

public PROMedSRobustRangingRadioSourceEstimator3D(double[] qualityScores,
 com.irurueta.geometry.Point3D initialPosition)

Constructor.

Parameters:

qualityScores - quality scores corresponding to each provided sample. The larger the score value the better the quality of the sample.

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

Throws:

IllegalArgumentException - if quality scores is null, or length of quality scores is less than required minimum.

PROMedSRobustRangingRadioSourceEstimator3D

public PROMedSRobustRangingRadioSourceEstimator3D(double[] qualityScores,
 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:

qualityScores - quality scores corresponding to each provided sample. The larger the score value the better the quality of the sample.

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, quality scores is null, or length of quality scores is less than required minimum.

PROMedSRobustRangingRadioSourceEstimator3D

public PROMedSRobustRangingRadioSourceEstimator3D(double[] qualityScores,
 com.irurueta.geometry.Point3D initialPosition,
 RobustRangingRadioSourceEstimatorListener<S,com.irurueta.geometry.Point3D> listener)

Constructor.

Parameters:

qualityScores - quality scores corresponding to each provided sample. The larger the score value the better the quality of the sample.

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, quality scores is null, or length of quality scores is less than required minimum.

PROMedSRobustRangingRadioSourceEstimator3D

public PROMedSRobustRangingRadioSourceEstimator3D(double[] qualityScores,
 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:

qualityScores - quality scores corresponding to each provided sample. The larger the score value the better the quality of the sample.

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, quality scores is null, or length of quality scores is less than required minimum.

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.

getQualityScores

public double[] getQualityScores()

Returns quality scores corresponding to each pair of positions and distances (i.e. sample). The larger the score value the better the quality of the sample. This implementation always returns null. Subclasses using quality scores must implement proper behavior.

Overrides:

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

Returns:

quality scores corresponding to each sample.

setQualityScores

public void setQualityScores(double[] qualityScores)
                      throws com.irurueta.navigation.LockedException

Sets quality scores corresponding to each pair of positions and distances (i.e. sample). The larger the score value the better the quality of the sample. This implementation makes no action. Subclasses using quality scores must implement proper behaviour.

Overrides:

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

Parameters:

qualityScores - quality scores corresponding to each pair of matched points.

Throws:

IllegalArgumentException - if provided quality scores length is smaller than minimum required samples.

com.irurueta.navigation.LockedException - if robust solver is locked because an estimation is already in progress.

isReady

public boolean isReady()

Indicates whether solver is ready to find a solution.

Overrides:

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

Returns:

true if solver is ready, false otherwise.

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.

internalSetQualityScores

private void internalSetQualityScores(double[] qualityScores)

Sets quality scores corresponding to each provided sample. This method is used internally and does not check whether instance is locked or not.

Parameters:

qualityScores - quality scores to be set.

Throws:

IllegalArgumentException - if provided quality scores length is smaller than 3 samples.