slam_if_1d.eps

这是移动机器人同时定位与地图创建的第三部分

%!PS-Adobe-3.0 EPSF-3.0
%%Creator: MATLAB, The Mathworks, Inc. Version 7.2.0.283 (R2006a). Operating System: Darwin 8.7.0 Darwin Kernel Version 8.7.0: Fri May 26 15:20:53 PDT 2006; root:xnu-792.6.76.obj~1/RELEASE_PPC Power Macintosh.
%%Title: ./writeup/Graphics/slam_if_1d.eps
%%CreationDate: 08/21/2006  16:36:02
%%DocumentNeededFonts: Helvetica
%%DocumentProcessColors: Cyan Magenta Yellow Black
%%LanguageLevel: 2
%%Pages: 1
%%BoundingBox:    13   258   635   700
%%EndComments

%%BeginProlog
% MathWorks dictionary
/MathWorks 160 dict begin
% definition operators
/bdef {bind def} bind def
/ldef {load def} bind def
/xdef {exch def} bdef
/xstore {exch store} bdef
% operator abbreviations
/c  /clip ldef
/cc /concat ldef
/cp /closepath ldef
/gr /grestore ldef
/gs /gsave ldef
/mt /moveto ldef
/np /newpath ldef
/cm /currentmatrix ldef
/sm /setmatrix ldef
/rm /rmoveto ldef
/rl /rlineto ldef
/s {show newpath} bdef
/sc {setcmykcolor} bdef
/sr /setrgbcolor ldef
/sg /setgray ldef
/w /setlinewidth ldef
/j /setlinejoin ldef
/cap /setlinecap ldef
/rc {rectclip} bdef
/rf {rectfill} bdef
% page state control
/pgsv () def
/bpage {/pgsv save def} bdef
/epage {pgsv restore} bdef
/bplot /gsave ldef
/eplot {stroke grestore} bdef
% orientation switch
/portraitMode 0 def /landscapeMode 1 def /rotateMode 2 def
% coordinate system mappings
/dpi2point 0 def
% font control
/FontSize 0 def
/FMS {/FontSize xstore findfont [FontSize 0 0 FontSize neg 0 0]
  makefont setfont} bdef
/reencode {exch dup where {pop load} {pop StandardEncoding} ifelse
  exch dup 3 1 roll findfont dup length dict begin
  { 1 index /FID ne {def}{pop pop} ifelse } forall
  /Encoding exch def currentdict end definefont pop} bdef
/isroman {findfont /CharStrings get /Agrave known} bdef
/FMSR {3 1 roll 1 index dup isroman {reencode} {pop pop} ifelse
  exch FMS} bdef
/csm {1 dpi2point div -1 dpi2point div scale neg translate
 dup landscapeMode eq {pop -90 rotate}
  {rotateMode eq {90 rotate} if} ifelse} bdef
% line types: solid, dotted, dashed, dotdash
/SO { [] 0 setdash } bdef
/DO { [.5 dpi2point mul 4 dpi2point mul] 0 setdash } bdef
/DA { [6 dpi2point mul] 0 setdash } bdef
/DD { [.5 dpi2point mul 4 dpi2point mul 6 dpi2point mul 4
  dpi2point mul] 0 setdash } bdef
% macros for lines and objects
/L {lineto stroke} bdef
/MP {3 1 roll moveto 1 sub {rlineto} repeat} bdef
/AP {{rlineto} repeat} bdef
/PDlw -1 def
/W {/PDlw currentlinewidth def setlinewidth} def
/PP {closepath eofill} bdef
/DP {closepath stroke} bdef
/MR {4 -2 roll moveto dup  0 exch rlineto exch 0 rlineto
  neg 0 exch rlineto closepath} bdef
/FR {MR stroke} bdef
/PR {MR fill} bdef
/L1i {{currentfile picstr readhexstring pop} image} bdef
/tMatrix matrix def
/MakeOval {newpath tMatrix currentmatrix pop translate scale
0 0 1 0 360 arc tMatrix setmatrix} bdef
/FO {MakeOval stroke} bdef
/PO {MakeOval fill} bdef
/PD {currentlinewidth 2 div 0 360 arc fill
   PDlw -1 eq not {PDlw w /PDlw -1 def} if} def
/FA {newpath tMatrix currentmatrix pop translate scale
  0 0 1 5 -2 roll arc tMatrix setmatrix stroke} bdef
/PA {newpath tMatrix currentmatrix pop	translate 0 0 moveto scale
  0 0 1 5 -2 roll arc closepath tMatrix setmatrix fill} bdef
/FAn {newpath tMatrix currentmatrix pop translate scale
  0 0 1 5 -2 roll arcn tMatrix setmatrix stroke} bdef
/PAn {newpath tMatrix currentmatrix pop translate 0 0 moveto scale
  0 0 1 5 -2 roll arcn closepath tMatrix setmatrix fill} bdef
/vradius 0 def /hradius 0 def /lry 0 def
/lrx 0 def /uly 0 def /ulx 0 def /rad 0 def
/MRR {/vradius xdef /hradius xdef /lry xdef /lrx xdef /uly xdef
  /ulx xdef newpath tMatrix currentmatrix pop ulx hradius add uly
  vradius add translate hradius vradius scale 0 0 1 180 270 arc 
  tMatrix setmatrix lrx hradius sub uly vradius add translate
  hradius vradius scale 0 0 1 270 360 arc tMatrix setmatrix
  lrx hradius sub lry vradius sub translate hradius vradius scale
  0 0 1 0 90 arc tMatrix setmatrix ulx hradius add lry vradius sub
  translate hradius vradius scale 0 0 1 90 180 arc tMatrix setmatrix
  closepath} bdef
/FRR {MRR stroke } bdef
/PRR {MRR fill } bdef
/MlrRR {/lry xdef /lrx xdef /uly xdef /ulx xdef /rad lry uly sub 2 div def
  newpath tMatrix currentmatrix pop ulx rad add uly rad add translate
  rad rad scale 0 0 1 90 270 arc tMatrix setmatrix lrx rad sub lry rad
  sub translate rad rad scale 0 0 1 270 90 arc tMatrix setmatrix
  closepath} bdef
/FlrRR {MlrRR stroke } bdef
/PlrRR {MlrRR fill } bdef
/MtbRR {/lry xdef /lrx xdef /uly xdef /ulx xdef /rad lrx ulx sub 2 div def
  newpath tMatrix currentmatrix pop ulx rad add uly rad add translate
  rad rad scale 0 0 1 180 360 arc tMatrix setmatrix lrx rad sub lry rad
  sub translate rad rad scale 0 0 1 0 180 arc tMatrix setmatrix
  closepath} bdef
/FtbRR {MtbRR stroke } bdef
/PtbRR {MtbRR fill } bdef
/stri 6 array def /dtri 6 array def
/smat 6 array def /dmat 6 array def
/tmat1 6 array def /tmat2 6 array def /dif 3 array def
/asub {/ind2 exch def /ind1 exch def dup dup
  ind1 get exch ind2 get sub exch } bdef
/tri_to_matrix {
  2 0 asub 3 1 asub 4 0 asub 5 1 asub
  dup 0 get exch 1 get 7 -1 roll astore } bdef
/compute_transform {
  dmat dtri tri_to_matrix tmat1 invertmatrix 
  smat stri tri_to_matrix tmat2 concatmatrix } bdef
/ds {stri astore pop} bdef
/dt {dtri astore pop} bdef
/db {2 copy /cols xdef /rows xdef mul dup 3 mul string
  currentfile 
  3 index 0 eq {/ASCIIHexDecode filter}
  {/ASCII85Decode filter 3 index 2 eq {/RunLengthDecode filter} if }
  ifelse exch readstring pop
  dup 0 3 index getinterval /rbmap xdef
  dup 2 index dup getinterval /gbmap xdef
  1 index dup 2 mul exch getinterval /bbmap xdef pop pop}bdef
/it {gs np dtri aload pop moveto lineto lineto cp c
  cols rows 8 compute_transform 
  rbmap gbmap bbmap true 3 colorimage gr}bdef
/il {newpath moveto lineto stroke}bdef
currentdict end def
%%EndProlog

%%BeginSetup
MathWorks begin

0 cap

end
%%EndSetup

%%Page: 1 1
%%BeginPageSetup
%%PageBoundingBox:    13   258   635   700
MathWorks begin
bpage
%%EndPageSetup

%%BeginObject: obj1
bplot

/dpi2point 12 def
portraitMode -1020 8784 csm

 1186   374  7457  5313 rc
87 dict begin %Colortable dictionary
/c0 { 0.000000 0.000000 0.000000 sr} bdef
/c1 { 1.000000 1.000000 1.000000 sr} bdef
/c2 { 0.900000 0.000000 0.000000 sr} bdef
/c3 { 0.000000 0.820000 0.000000 sr} bdef
/c4 { 0.000000 0.000000 0.800000 sr} bdef
/c5 { 0.910000 0.820000 0.320000 sr} bdef
/c6 { 1.000000 0.260000 0.820000 sr} bdef
/c7 { 0.000000 0.820000 0.820000 sr} bdef
c0
1 j
1 sg
   0    0 9397 8076 rf
6 w
0 807 7282 0 0 -807 1221 1615 4 MP
PP
-7282 0 0 807 7282 0 0 -807 1221 1615 5 MP stroke
4 w
DO
SO
6 w
0 sg
1221 1615 mt 8503 1615 L
1221  808 mt 8503  808 L
1221 1615 mt 1221  808 L
8503 1615 mt 8503  808 L
1221 1615 mt 8503 1615 L
1221 1615 mt 1221  808 L
1827 1615 mt 1827 1542 L
1827  808 mt 1827  880 L
3040 1615 mt 3040 1542 L
3040  808 mt 3040  880 L
4252 1615 mt 4252 1542 L
4252  808 mt 4252  880 L
5465 1615 mt 5465 1542 L
5465  808 mt 5465  880 L
6678 1615 mt 6678 1542 L
6678  808 mt 6678  880 L
7890 1615 mt 7890 1542 L
7890  808 mt 7890  880 L
1221 1615 mt 8503 1615 L
1221  808 mt 8503  808 L
1221 1615 mt 1221  808 L
8503 1615 mt 8503  808 L
gs 1221 808 7283 808 rc
DO
7282 0 1221 1211 2 MP stroke
SO
gr

gs 2252 1030 6433 363 rc
60 W
2433 1211 PD
60 W
3647 1211 PD
60 W
4861 1211 PD
60 W
6075 1211 PD
60 W
7289 1211 PD
60 W
8503 1211 PD
gr

gs 1221 808 7283 808 rc
gs 4090 1030 363 363 rc
0 j
-104 179 -104 -179 208 0 4167 1271 4 MP
/c8 { 1.000000 0.000000 0.000000 sr} bdef
c8
gs
PP
gr
0 sg
DP
gr

gs 2135 1030 363 363 rc
c8
2253 1148 mt 2379 1274 L
2379 1148 mt 2253 1274 L
gr

c8
gs 3354 1030 363 363 rc
3472 1148 mt 3598 1274 L
3598 1148 mt 3472 1274 L
gr

gs 4716 1066 291 291 rc
/c9 { 0.268000 0.686000 1.000000 sr} bdef
c9
  72   72 4861 1211 FO
gr

c9
gs 4617 1030 363 363 rc
c8
4735 1148 mt 4861 1274 L
4861 1148 mt 4735 1274 L
gr

c8
gr

c8
1 sg
0 -2818 2818 0 0 2818 3383 2628 4 MP
PP
-2818 0 0 -2818 2818 0 0 2818 3383 2628 5 MP stroke
0 sg
%%IncludeResource: font Helvetica
/Helvetica /ISOLatin1Encoding 168 FMSR

3736 5625 mt 
(Dots denote nonzero entries) s
gs 3383 2628 2819 2819 rc
/mwscm { [/Indexed /DeviceRGB 63
  <
    ffffff fafafa f6f6f6 f2f2f2 eeeeee eaeaea e6e6e6 e2e2e2 dedede dadada 
    d6d6d6 d2d2d2 cecece cacaca c6c6c6 c2c2c2 bebebe bababa b6b6b6 b2b2b2 
    aeaeae aaaaaa a5a5a5 a1a1a1 9d9d9d 999999 959595 919191 8d8d8d 898989 
    858585 818181 7d7d7d 797979 757575 717171 6d6d6d 696969 656565 616161 
    5d5d5d 595959 555555 505050 4c4c4c 484848 444444 404040 3c3c3c 383838 
    343434 303030 2c2c2c 282828 242424 202020 1c1c1c 181818 141414 101010 
    0c0c0c 080808 040404 000000 
  >
] setcolorspace } bdef mwscm
gs np 3383 2629 mt 0 2818 rl 2818 0 rl 0 -2818 rl cp c np
[2818 0 0 2818 3383 2629] cc
<< % Image dictionary
  /ImageType 1
  /Width 4 /Height 4
  /BitsPerComponent 8
  /Decode [0 255]
  /ImageMatrix [4.000000 0 0 4.000000 0 0]
  /DataSource currentfile
  /ASCII85Decode filter
  /RunLengthDecode filter
>>
image
%mL%'49.Se!"Bu6!'C5]5C`
~>
gr
c8
0 2818 3383 2628 2 MP stroke
0 2818 4087 2628 2 MP stroke
0 2818 4792 2628 2 MP stroke
0 2818 5496 2628 2 MP stroke
0 2818 6201 2628 2 MP stroke
705 0 704 0 705 0 704 0 3383 2628 5 MP stroke
705 0 704 0 705 0 704 0 3383 3333 5 MP stroke
705 0 704 0 705 0 704 0 3383 4037 5 MP stroke
705 0 704 0 705 0 704 0 3383 4742 5 MP stroke
705 0 704 0 705 0 704 0 3383 5446 5 MP stroke
gr

c8
0 sg
3735 2477 mt 
(v+) s
4439 2477 mt 
(2 ) s
5144 2477 mt 
(3 ) s
5848 2477 mt 
(4 ) s
3171 3040 mt 
(v+) s
3171 3745 mt 
(2 ) s
3171 4449 mt 
(3 ) s
3171 5154 mt 
(4 ) s
gs 3383 2628 2819 2819 rc
gs 3662 2907 2260 2261 rc
24 W
3735 2980 PD
24 W
4439 2980 PD
24 W
5144 2980 PD
24 W
5848 2980 PD
24 W
3735 3685 PD
24 W
4439 3685 PD
24 W
5144 3685 PD
24 W
3735 4389 PD
24 W
4439 4389 PD
24 W
5144 4389 PD
24 W
3735 5094 PD
24 W
5848 5094 PD
gr

gr

4 w
DO
SO
6 w
3383 2628 mt 6201 2628 L
3383 5446 mt 6201 5446 L
3383 2628 mt 3383 5446 L
6201 2628 mt 6201 5446 L
3383 5446 mt 6201 5446 L
3383 2628 mt 3383 5446 L
3383 2628 mt 6201 2628 L
3383 5446 mt 6201 5446 L
3383 2628 mt 3383 5446 L
6201 2628 mt 6201 5446 L
31 -463 2399 1840 2 MP stroke
-48 39 -42 -45 37 123 53 -117 2382 1416 5 MP
PP
%%IncludeResource: font Helvetica
/Helvetica /ISOLatin1Encoding 240 FMSR

1315 2063 mt 
(True feature location) s
-358 -467 3987 1840 2 MP stroke
-10 60 -61 -6 109 68 -38 -122 3619 1433 5 MP
PP
3988 2063 mt 
(Mapped feature) s
-383 329 4799 724 2 MP stroke
62 7 -3 62 62 -113 -121 44 4478 1060 5 MP
PP
4800  670 mt 
(Robot) s
-1233 -611 6271 1912 2 MP stroke
18 59 -58 21 128 13 -88 -93 5056 1360 5 MP
PP
6272 1997 mt 
(Current observation) s

end %%Color Dict

eplot
%%EndObject

epage
end

showpage

%%Trailer
%%EOF