Updated to IV 2019 Version

README.md

@@ -13,7 +13,7 @@ Main features are:
 This work is released under the GNU General Public License version 3.
 
 ### Citation
-This library is the implementation of the following paper [1]. Further references will be added with additional content.
+This library is the implementation of [1] and [2]. Further references will be added with additional content.
 
 [1] Tim Pfeifer and Peter Protzel, Expectation-Maximization for Adaptive Mixture Models in Graph Optimization, Proc. of Intl. Conf. on Robotics and Automation (ICRA), 2019
 
@@ -26,6 +26,17 @@ BibTeX:
         year      = {2019},
         }
 
+[2] Tim Pfeifer and Peter Protzel, Incrementally learned Mixture Models for GNSS Localization, Proc. of Intelligent Vehicles Symposium (IV), 2019
+
+BibTeX:
+
+        @InProceedings{Pfeifer2019a,
+        author    = {Tim Pfeifer and Peter Protzel},
+        title     = {Incrementally learned Mixture Models for GNSS Localization},
+        booktitle = {Proc. of Intelligent Vehicles Symposium (IV)},
+        year      = {2019},
+        }
+
 ## Installation
 
 The libRSF is a CMake project that requires the installation of the following dependencies:
@@ -64,7 +75,7 @@ After building the library, some applications are provided. Usually they corresp
 
 #### ICRA 2019
 These two applications are made for the ICRA 2019 conference, the corresponding paper is [1].
-One can be used for GNSS datasets and calculated a 3D position in the ECEF frame, while the other one is for the 2D UWB ranging dataset.
+One can be used for GNSS datasets and calculates a 3D position in the ECEF frame, while the other one is for 2D ranging datasets.
 To run them, the following syntax have to be used:
 
       libRSF/build/applications/ICRA19_GNSS     <input file> <output file> error: <error model>
@@ -99,3 +110,36 @@ To run them, the following syntax have to be used:
 A full example could be:
 
       libRSF/build/applications/ICRA19_GNSS libRSF/datasets/smartLoc/Data_Berlin_Potsdamer_Platz_Web.txt Result_Berlin_Potsdamer_Platz_Web.txt error: gauss
+      
+#### IV 2019
+
+These application is made for the IV 2019 conference, the corresponding paper is [2].
+It can be used for GNSS datasets and calculates a 3D position in the ECEF frame.
+To run them, the following syntax have to be used:
+
+      libRSF/build/applications/IV19_GNSS     <input file> <output file> error: <error model>
+      
+- **\<input file\>** is the dataset you want to process, the format is explained by readme files in the datasets folder.
+- **\<output file\>** is the estimated Trajectory. The output file contains several columns that represent timestamps and estimated positions:
+
+      Column 1    - Timestamp [s]
+      Column 2    - X coordinate in the ECEF frame [m]
+      Column 3    - Y coordinate in the ECEF frame [m]
+      Column 4    - Z coordinate in the ECEF frame [m]
+      Column 5-13 - Covariance matrix of the estimated position in row-major format (Currently not used!)
+
+- **\<error model\>** is one of the following error models:
+
+      gauss     -     A Gaussian distribution
+      dcs       -     Dynamic Covariance Scaling
+      cdce      -     Closed form Dynamic Covariance Estimation
+      mm        -     Max-Mixture (an approximation of a Gaussian mixture)
+      sm        -     Sum-Mixture (an exact Gaussian mixture)
+      stmm      -     Adaptive Max-Mixture using the EM Algorithm
+      stsm      -     Adaptive Sum-Mixture using the EM Algorithm
+      stmm_vbi  -     Incrementally learned Max-Mixture using the VBI Algorithm
+      stsm_vbi  -     Incrementally learned Sum-Mixture using the VIB Algorithm  
+
+A full example could be:
+
+      libRSF/build/applications/IV19_GNSS libRSF/datasets/smartLoc/Data_Berlin_Potsdamer_Platz_Web.txt Result_Berlin_Potsdamer_Platz_Web.txt error: gauss

applications/CMakeLists.txt

@@ -23,3 +23,6 @@ target_link_libraries(ICRA19_Ranging ${CERES_LIBRARIES} libRSF)
 
 add_executable(ICRA19_GNSS ICRA19_GNSS.cpp)
 target_link_libraries(ICRA19_GNSS ${CERES_LIBRARIES} libRSF)
+
+add_executable(IV19_GNSS IV19_GNSS.cpp)
+target_link_libraries(IV19_GNSS ${CERES_LIBRARIES} libRSF)

applications/ICRA19_GNSS.cpp

@@ -205,7 +205,7 @@ void TuneErrorModel(libRSF::FactorGraph &Graph,
       for(int nComponent = 0; nComponent < NumberOfComponents; ++nComponent)
       {
 
-        Component.setParamsStdDev((ceres::Vector(1) << 10).finished()*pow(10, nComponent),
+        Component.setParamsStdDev((ceres::Vector(1) << pow(10, nComponent+1)).finished(),
                                   (ceres::Vector(1) << 0.0).finished(),
                                   (ceres::Vector(1) << 1.0/NumberOfComponents).finished());
 

applications/ICRA19_Ranging.cpp

@@ -31,7 +31,6 @@
 
 #include "ICRA19_Ranging.h"
 
-
 /** @brief Generates a delta time measurement object from two timestamps
  *
  * @param TimestampOld a double timestamp
@@ -310,8 +309,6 @@ int main(int argc, char** argv)
     Graph.addState(ORIENTATION_STATE, libRSF::StateType::Angle, Timestamp);
 
     /** add motion model or odometry */
-    libRSF::SensorData DeltaTime = GenerateDeltaTime(TimestampOld, Timestamp);
-
     libRSF::StateList MotionList;
     MotionList.add(POSITION_STATE, TimestampOld);
     MotionList.add(POSITION_STATE, Timestamp);