A Novel Human Machine Interface Using 3D Vision and Kalman Filter Optimization

da
2014
A Novel Human
Machine Interface
Using 3D Vision,
Support Vector
Machine
Classification, and
Kalman Filter
Optimization
HS-CO-0023
This project presents a novel approach to the creation of an innovative human
machine interface (HMI) device using the concepts of 3D vision, support vector
machine classification, and Kalman Filter optimization. The HMI device can then
be used in improving teaching techniques in education, collaboration in research
and business environments, used in entertainment industry, and used by consumers
for personal entertainment.
Alan Cheng
Southridge High School
2/20/2014
Contents
1. Abstract ....................................................................................................................................... 5
2. Introduction (Foreword).............................................................................................................. 6
3. Reference to Literature ............................................................................................................... 8
3.1 Kinect and 3D Vision ............................................................................................................ 8
3.1.1 The Microsoft Kinect...................................................................................................... 8
3.1.2 Depth Calculation with the Microsoft Kinect............................................................... 10
3.2 Computer Vision and Image Processing ............................................................................. 11
3.2.1 OpenCV ........................................................................................................................ 12
3.2.2 Hue, Saturation, and Value ........................................................................................... 12
3.2.3 Object Recognition ....................................................................................................... 13
3.2.4 Contours........................................................................................................................ 13
3.2.5 Chain Codes .................................................................................................................. 14
3.2.6 Contour Area ................................................................................................................ 14
3.2.7 Bounding Box ............................................................................................................... 15
3.2.8 Circularity ..................................................................................................................... 15
3.2.9 Centroid ........................................................................................................................ 15
3.3 Kalman Filter....................................................................................................................... 16
3.3.1 Kalman Filter Example ................................................................................................. 17
3.3.2 Model for Kalman Filter ............................................................................................... 18
3.3.3 Prediction Stage ............................................................................................................ 19
3.3.4 Measurement Stage....................................................................................................... 19
3.3.5 Correction Stage ........................................................................................................... 19
4. Project Description.................................................................................................................... 21
4.1 Purpose and Long Term Goals ............................................................................................ 21
4.2 Goal ..................................................................................................................................... 21
4.3 Research Question ............................................................................................................... 22
4.4 Constraints........................................................................................................................... 22
4.5 Variables.............................................................................................................................. 22
5. Design Process of Implementation ........................................................................................... 23
5.1 Drafting ............................................................................................................................... 23
5.2 Current design model The First Prototype ....................................................................... 24
5.2.1 Microsoft Kinect ........................................................................................................... 24

5.2.2 3M Roku Streaming Projector ...................................................................................... 25
5.2.3 OpenCV, OpenNI2 and Visual Studios ........................................................................ 25
6. Methodology ............................................................................................................................. 28
6.1 Overview of Process............................................................................................................ 28
6.2 Initialization ........................................................................................................................ 28
6.3 Calibration ........................................................................................................................... 29
6.4 Finger Detection .................................................................................................................. 31
6.5 Implementation of Kalman Filter into Current Application................................................ 35
7. Experimentation ........................................................................................................................ 38
7.1 Accuracy Testing................................................................................................................. 38
7.1.1 Method for Testing ....................................................................................................... 38
7.1.2 Data from Experimentation .......................................................................................... 39
7.1.3 Observations ................................................................................................................. 41
7.2 Effects of Use of Kalman Filter .......................................................................................... 41
7.2.1 Method for Testing ....................................................................................................... 41
7.2.2 Data from Experiment .................................................................................................. 42
7.2.3 Observations ................................................................................................................. 45
8. Conclusion ................................................................................................................................ 46
9. Extensions: Support Vector Machine Classification to Improve Finger Recognition .............. 48
9.1 Purpose ............................................................................................................................ 48
9.2 The Support Vector Machine (SVM) .............................................................................. 48
10. Future Work ............................................................................................................................ 56
11. References ............................................................................................................................... 58
Appendix A: Experimentation Data from Accuracy Data Image Files ..................................... 60
Trial 1: ....................................................................................................................................... 61
Trial 2: ....................................................................................................................................... 62
Trial 3: ....................................................................................................................................... 63
Appendix B: Experimentation Data from Kalman Filter Comparison ......................................... 64
Line 1: ....................................................................................................................................... 65
Trial 1: ................................................................................................................................... 65
Trial 2: ................................................................................................................................... 68
Trial 3: ................................................................................................................................... 72
Trial 4: ................................................................................................................................... 77
Trial 5: ................................................................................................................................... 80
Line 2: ....................................................................................................................................... 83
Trial 1: ................................................................................................................................... 84
Trial 2: ................................................................................................................................... 87
Trial 3: ................................................................................................................................... 90
Trial 4: ................................................................................................................................... 95
Trial 5: ................................................................................................................................. 100
Circle 1: ................................................................................................................................... 105
Trial 1: ................................................................................................................................. 106
Trial 2: ................................................................................................................................. 111
Trial 3: ................................................................................................................................. 116
Trial 4: ................................................................................................................................. 121
Trial 5: ................................................................................................................................. 126
Star 1: ...................................................................................................................................... 129
Trial 1: ................................................................................................................................. 130
Trial 2: ................................................................................................................................. 137
Trial 3: ................................................................................................................................. 142
Trial 4: ................................................................................................................................. 147
Trial 5: ................................................................................................................................. 152
Triangle 1: ............................................................................................................................... 157
Trial 1: ................................................................................................................................. 158
Trial 2: ................................................................................................................................. 163
Trial 3: ................................................................................................................................. 166
Trial 4: ................................................................................................................................. 169
Trial 5: ................................................................................................................................. 172
Figure 8 (1): ............................................................................................................................. 176
Trial 1: ................................................................................................................................. 177
Trial 2: ................................................................................................................................. 182
Trial 3: ................................................................................................................................. 187
Trial 4: ................................................................................................................................. 192
Trial 5: ................................................................................................................................. 197

Heart 1: .................................................................................................................................... 202
Trial 1: ................................................................................................................................. 203
Trial 2: ................................................................................................................................. 208
Trial 3: ................................................................................................................................. 213
Trial 4: ................................................................................................................................. 218
Trial 5: ................................................................................................................................. 223
Lightning 1: ............................................................................................................................. 228
Trial 1: ................................................................................................................................. 229
Trial 2: ................................................................................................................................. 234
Trial 3: ................................................................................................................................. 239
Trial 4: ................................................................................................................................. 244
Trial 5: ................................................................................................................................. 249
Appendix C: Source Code .......................................................................................................... 254
Appendix D: Source Code Version 2.0 - SVM........................................................................... 270
1. Abstract
This project presents a novel approach to the creation of an innovative human machine
interface (HMI) device using the concepts of 3D vision and Kalman Filter optimization. In the
first phase of this project, an HMI device was engineered using the Microsoft Kinect, and was
processed using the OpenCV and OpenNI2 libraries. The methodology of the software consists
of four main processes: initialization, calibration, finger detection, and optimization. The
initialization process scanned and prepared the software for the environment. Calibration helped
to align the RGB and Depth maps. Finger detection detected points of finger contact with the
environment. Optimization was performed with the Kalman Filter environment to help improve
the accuracy of mouse movement. A further improvement was made to drastically improve
finger recognition by using the support vector machine classification algorithm.
Two different types of experimentation were performed on the device. The first
experiment tested the accuracy of point detection in the software. Results showed that error
between the measured and true center has little visible effect on the implementation of the device.
The second experiment tested the improvements on the tracing error of shapes when a Kalman
Filter is used to optimize mouse movements. Results clearly indicate that the Kalman Filter
showed over a 20% improvement on the mean, maximum, number of peaks, and roughness of
the tracing error.
The results show the effectiveness of a methodology to create a novel HMI device which
has good accuracy and can realistically be used in the real world. Real world applications of the
device include: improving teaching techniques in education, collaboration in research, work, and
business environments, use for entertainment, and the consumer use for personal entertainment.
2. Introduction (Foreword)
Foreword:
This idea for this project started in the midst of last years Beaverton Hillsboro Science
Exposition (BHSE) science fair competition. I would like to thank the Intel manager whom, in
response to my overhead camera setup in my project, Improving Precision of Robot Control
Using a Hardware Implementation of a Kalman Filter, asked me the question of recognizing
fingertip touch on a table surface from an overhead camera. It was after the expo was over which,
after failing to place 1st in electrical engineering, I found myself pondering this question over and
over. At the moment was when I thought of combining the idea of improving communication
and having an interactive table touchscreen, and is a result created this project. Without this
enlightening discussion, I would not have started research into this novel idea.
In very recent years, the technology industry has seen the development of consumer
based 3D vision products. The most notable being the Microsoft Kinect for the Xbox 360 gaming
system. However, the development of these commercially available products opens the path for
further research and development on consumer grade products using 3D vision.
On the other hand, my participation at a research group (dedicated to quantum
technologies) has shown me the importance of communication. Good communication leads to
more efficient and more creative ideas. Over the course of four years, I have repeatedly observed
that the most successful ideas come from these discussions. Thus, in order for society as a whole
to be more innovative, it is important to increase the efficiency our collaboration.
A lot of discussions occur in conferences rooms. Typically, there is someone using the
projector for a presentation. However, besides the use of displaying a PowerPoint and statistical
data, there arent many other uses. In the situation of a research group, there are normally
whiteboards that are used for explanation and planning. By taking the advantage of advancing
research with 3D vision, with the suboptimal situation in collaboration, a solution to the problem
could be to create an interactive human machine interfacing (HMI) device. When being projected
straight down on a table, this allows users to work on the same display. As a result, researchers
and businessmen can plan together on big screen, or work in individual partitions that are easily
shared with others (since it is on the same big screen). This means that workers can come up
with individual ideas, and then easily and directly share their ideas. These interactions introduced
by the use of such interfacing technology can help increase collaboration in workspaces.
At the same time, if the HMI device was able to be palm-size, portable, and tangible to
the everyday person, it allows for individual use on-the-go. Advantages include: not being
restricted to a fixed screen (i.e. enlargement of screen for family entertainment or the use of a
small screen to do simple tasks on the go) and the use of electronics in unconventional locations
(i.e. locations with water). Thus, with the introduction of such idea, it is possible to create a
product that not only is useful to businesses, but also useful to the commonplace person.
The idea: Think about the above table, but instead it runs any
operating system with no designated surface and no restricted
size, all enclosed in a small box that can fit in your pocket with a
price tag under $500.
3. Reference to Literature
3.1 Kinect and 3D Vision
3.1.1 The Microsoft Kinect
Microsofts innovative Kinect was announced at E3 2009 as Project Natal. It was then
released on November 4, 2010. The original perception and goal of the Kinect was to introduce a
new gesture-based way to play games on the Xbox. However, in the entertainment industry, the
Kinect was perceived in negative light.
On the other hand, the Kinect has been in much positive light for use in academic
research. Many top universities such as Massachusetts Institute of Technology have used the
device for furthering research in various areas of computer science, electrical engineering, and
computer engineering. Example uses included 3D videoconferencing (research by University of
California, Davis) and simultaneous localization and mapping (SLAM) for autonomous robots
(research in many universities, primarily MIT).
Some specs of the Kinect are included below for reference:
640480 pixels @ 30 Hz (RGB camera)

1280960 pixels @ 15 Hz (RGB camera)
640480 pixels @ 30 Hz (IR depth-finding camera)
Practical depth range of 1.23.5 m (3.911.5 ft)
Tilt motor for movement in the X, Y, and Z axis
Microphone array for voice recognition
Figure 3.1: The Microsoft Kinect for Xbox360 (source:

http://upload.wikimedia.org/wikipedia/commons/6/67/Xbox-360-Kinect-Standalone.png)
Figure 3.2: Inside look at the Kinect (source: http://qph.is.quoracdn.net/main-qimg17601437f077288f37a5d99eaea53726?convert_to_webp=true)

In November 22, 2013, the Xbox One was released. Along with the console was an
updated Kinect. The new Kinect allows for high depth sensing and RGB quality, faster
processing, and more accurate voice recognition. However, as of now, there are virtually no
public available drivers, and the device is not sold separately. Thus, research still uses the
original Kinect model.
Figure 3.3: Kinect 2.0 for the Xbox One

3.1.2 Depth Calculation with the Microsoft Kinect
It is common to think that the Kinect uses stereovision to find depth. This statement is
actually false. The Kinect uses structured-light in order to detect depth. This is because the use of
such technology allows for the use of a cheaper infrared projector and receiver, lowering costs of
the device. At the same time, it can still have high-quality depth scanning.
Structured-light works in the following way:
1. A pattern of infrared light is projected on the environment from the infrared projector
2. The infrared camera reads the infrared light and calculates distortion from the original
projection to get the depth value.
Figure 3.4: Distortion of multiple different vertical stripe patterns (source:

http://3.bp.blogspot.com/_UvGzlBL4wgk/S7FAzysUc4I/AAAAAAAAAII/3_GAI3FMRs4/s1600/Ac
t8-3.jpg)
The Kinect uses a semi-random speckled light pattern for display, has having a large quanitity of
points at random intervals can help increase accuracy of the depth calculations.
Figure 3.5: Speckle pattern projection of Kinect on hand to detect depth (source:
https://graphics.stanford.edu/~mdfisher/Images/KinectIR.png)
However, some problems do arise with the use of structured-light. The most noticeable is the
inability to use the Kinect in plain daylight as the sun emits light. Another problem is the
inability to have multiple Kinects look at the same environment, as the projected light would
interfere with each other.
3.2 Computer Vision and Image Processing

The general idea of computer vision is to use a camera input as a sensor to do numerical
processing. Sample applications of computer vision include autonomous robots, 3d mapping
(such as the SLAM algorithm), and the creation of gesture-based interactions. In order for
computer vision to be efficient, however, it is necessary to perform image processing, which is
the manipulation of an image input for calculations.
Image processing is based-off the idea of using a camera input to perform advanced
calculations. It should be noted that the camera input isnt exactly a picture like what our eyes
perceive, but in fact is a grid of number which represents what the camera sees. So, the color of
an image is actually just a bunch of numbers encoded as a color.
Although some of the most optimal programs work directly on the raw data of the image
input, in most applications it is efficient to use an external image procession library to help with
data manipulation and processing. One of the most widely used libraries for this application is
OpenCV.
3.2.1 OpenCV
OpenCV is an open source image processing library launched in 1999 by Intel, supported
by Willow Garage and Itseez, and is now maintained by the non-profit organization opencv.org.
The current stable release is OpenCV 2.4.8, and is written for the c and c++ programming
languages. However, adaptations of OpenCV have been made for other languages like Matlab
and Python.
Figure 3.6: OpenCV logo (source:

http://en.wikipedia.org/wiki/File:OpenCV_Logo_with_text_svg_version.svg)
The primary function of the library is to provide various computer vision related
algorithms like thresholding, Haar transform, and Fourier transformation. However, the current
builds of OpenCV now contain various machine learning algorithms like support vector
machines and the Bayes classifier. Also, with the new emergence of commercial 3D vision
sensors, OpenCV has introduced functions to support stereovision, and is compatible with 3D
vision sensors like the Microsoft Kinect.
3.2.2 Hue, Saturation, and Value
Hue, saturation, and value, otherwise known as HSV, are color properties. They are used
to define the color of a pixel (and ultimately an image). The hue value correlates to the pure
color (red, green, blue, purple, etc). Saturation is the colors grayness. Lower saturation values
lead to more grayness, with 0% saturation being the gray color itself. Value is the brightness of
the color. Thus, we can obtain the grayscale of an image by separating the image into these three
color channels.
Figure 3.7: The HSV color cone (source:

http://ilab.usc.edu/wiki/index.php/HSV_And_H2SV_Color_Space)
3.2.3 Object Recognition
Object recognition is the idea of classifying an object in an image. Although it may seem
easy to perform by the human eye, classifying objects from the pure numerical values is not an
easy task to complete. Classification has to be done by finding a shape, and then by analyzing
shape properties. Some of the methods will be described below.
3.2.4 Contours
OpenCVs contour function uses a method presented in 1983 by Satoshi Suzuki and
Keiichi Abe in Topological structural analysis of digitized binary images by border following.
The general idea of the algorithm is to, by using chain codes, detect the outer and inner edge of
both blobs and holes. Inputs are commonly either a thresholded binary image or an image
processed by the Canny edge detector algorithm.
Figure 3.8: Contour function on an image processed by the Canny edge detector algorithm
(source: http://dasl.mem.drexel.edu/~noahKuntz/opencvtut7-2.png)
Figure 3.9: Contour function output on a binary thresholded image (source:

http://2.bp.blogspot.com/olgBqVL0C60/UDUDJyRFoUI/AAAAAAAAAQA/7GXI2s145ns/s1600/ObjectDetectioncontours.png).
3.2.5 Chain Codes
Chain codes store information of the connected components of an image. Thus, the
contour finding algorithm uses chain codes to find the enclosed connect components. One of the
most commonly used chain codes is Freemans chain code, which contains an encoding for each
of the eight cardinal directions. A visual example of Freemans chain code is shown below.
0
7
2
5
4
Figure 3.10: Example of a compass for Freemans chain code.
3.2.6 Contour Area
The contour area is a shape feature. It can also be used to filter out small, noise contours.
The contour area is the area inside contour, which is the number of pixels enclosed by the
contour boundary.
Figure 3.11: The contour area of a contour. The contour area of the contour (light blue) would
be two pixels
3.2.7 Bounding Box
A bounding box is a box which bounds or surrounds an object. The box would have the
same length of the objects longest length, and the same width of the objects longest width.
Figure 3.12: A bounding box of a triangle (green). The bounding boxs area would be four pixels
3.2.8 Circularity
The circularity of an object is the difference in area of an objects area to a circles area
with the same perimeter. The equation is P2 / 4A where P is the perimeter and A is the area. The
less circular a shape is, the higher the circularity.
Figure 3.13: The circularity of the triangle is the black circle.

3.2.9 Centroid
Finding the centroid of a shape is very useful in robotics. Using the center coordinates,
the robot can then relocate itself to the object and pick it up.
In order to find the centroid of an object, images moments is used. Moments contain the
statistical properties of an image, and can be used to find the area, centroid, and object
orientation. The centroid can be calculated as following.

Figure 3.14: Moments equation: (top) equation written with integrals; (bottom) equation written
with sigma (bottom equation source: http://en.wikipedia.org/wiki/Image_moments.jpg)
In the equation above, the centroid of a detect object can be found with:
3.3 Kalman Filter

The Kalman Filter is utilized in this project to optimize the control and accuracy of the
robot arm. It is able to make a model of a problem more noise resistant. Because in the real
world, noise arise everywhere (lighting, slight movement of camera, inaccurate servo motors in
the robot arm), having a more noise resistant model leads to high accuracy and precision. To
simply put it, the Kalman Filter filters out noise, leaving only useful information.
The Kalman Filter has three main parts: prediction, measurement, and correction. The
general equations are shown in figure 3.3. The Kalman filter first predicts a state using a model,
obtains some sort of measurement from sensors, and then uses both the predicted state and the
measurements to create a more accurate state (see figure 3.5). Over time, the model of the
problem will become closer to having almost no error. Before explaining each of the states
separate, I will present an example outlining the parts of a Kalman Filter.
Figure 3.15: General equations of the Kalman Filter (source:

http://bilgin.esme.org/BitsBytes/KalmanFilterforDummies.aspx)
Figure 3.16: Example graph of a Kalman Filter and corresponding measurements in a robot
localization problem. (Source: http://2.bp.blogspot.com/_Eogk12oYmg/S7ZvOnBbTVI/AAAAAAAAAKg/2_IoODo8KoQ/s640/KalmanFusion.png)
3.3.1 Kalman Filter Example
Suppose that there is a river in which you want to monitor the water level. You have a
model to predict the water level every hour. However, the model is not 100% accurate. Therefore,
you send some to the river to physically check the water level. But the person is only able to
check the water level once a day during noon. Also, the measured water level from the person is
not 100% accurate. As a result, a Kalman Filter is used to combine the outputs from both sources
(model and person) to give a better estimate.
In this example, the three stages are as following:
Prediction theoretical model of river level

Measurement physical person checking the river level
Correction using both of the outputs from the prediction and measurement stage
to create a better estimate.
Figure 3.17: Sample graph of the river problem.

3.3.2 Model for Kalman Filter
One of the most important steps in the Kalman Filter is to create a model for the problem
(general form equation shown in figure 3.7). The purpose of such model is to create a prediction
(of the next state) for the current problem. If all the parameters in the project fit into the
equations without contradiction, then a Kalman Filter can be used.
In the first equation (which calculates the next state in time),
is the state being
predicted, A is a transition matrix (similar to slope in y=mx+b; it tells how the model should
progress over time),
is the previous state, B is a general form matrix or constant,
is a
control-input, and
is the process noise value. The second equation calculates the
measurement vector for the model. It contains the following variables: is a general matrix
(typically used for unit conversion),
is the current measured state, and
is a variable
denoting measurement noise.
Figure 3.18: Equations of the model for a Kalman Filter*

*Note that the general equation will vary depending on function of Kalman Filter and type of
Kalman Filter. The equation commonly used is: Xk = Fk1Xk1 + Bk1uk1 + Wk1. I have
changed the variable name from F to A to match with the equations in the latter portions of this
section.
The first equation uses the form of y = mx + b, but also generalizes the equations to
matrices and added variables for noise. This is because the common form of a Kalman Filter is
for linear functions (although different variants like the Extended Kalman Filter can be used for
non-linear models). In the model, a process noise value is added ( ). This value represents the
variation in the model. For example, in the river height problem described above, the process
noise may be describing the percent error that the model has (since almost all models are not
perfectly accurate).
The second equation is more simplistic than the first. It is used to refine the measurement
data. A measurement noise value, which is an estimation of the noise occurring in measurement,
is included in the equation. This is because noise has to be accounted for in the model.
The general equation (figure 3.7) can be decomposed into smaller equations. These
equations form three major stages of the Kalman Filter: prediction, measurement, and correction.
Note that these derived equations will vary depending of the current problem, and therefore are
simplified.
3.3.3 Prediction Stage
The first stage in the Kalman Filter is the prediction stage. In this stage, a model is used
to predict the future state of a problem (i.e. river level model). In the equations shown below, the
variables have the same meaning as the model shown in figure 3.7.
Figure 3.19: Equations for the prediction stage of the Kalman Filter.
The first equation calculates the value of , which is the value of next state before
correction. Notice that the only difference from the equation in Figure 3.8 to the model is a
noticeable lack of the process noise variable. This is because in many models, process noise isnt
apparent in the model. However, the variable is necessary for problems with significant
processing noise.
The next equation is used to calculate the value of the error covariance ( ) before
correction. It introduces new values into the equations. Namely these values are:
which is
the previous error covariance value, and Q is the estimated process error covariance.
3.3.4 Measurement Stage
The next stage of the Kalman Filter is the measurement stage. The purpose of this step is
to simply obtain some sort of data from measurement. Therefore, there are no general equations
for this stage. This process occurs in the river level problem as the person goes to physically
measure the depth of the water.
3.3.5 Correction Stage
The last and most important stage of the Kalman Filter is the correction stage. The
purpose of this stage is to give a more accurate predicted state from the data outputted from both
the prediction and measurement stages. To do this, there are three equations in the stage, and
they are displayed in figure 3.9. New values introduced into the equations are: which is the
measurement error covariance matrix, and
which is the Kalman Gain.
(
)
(
Figure 3.20: Equations used in the correction stage of the Kalman Filter
The first equation calculates the Kalman Gain ( ). The Kalman Gain is a correction
factor. It determines how much correction (measurement prediction) is needed. If the Kalman
Gain is value 0.5, then 50% of correction is added. If the value is closer to 0, then the predicted
state has a higher weight than the measurement state. When the value is 0, then the measurement
state is completely ignored. The opposite happens as the Kalman Gain approaches 1.
The second equation utilizes the Kalman Gain to calculate the value of the next
(corrected) state. The Kalman Gain takes the difference between measurement and prediction
values and applies it to the current state. Finally, the third equation calculates the new error
covariance value (in a very similar manner to the calculation of the new state).
4. Project Description
4.1 Purpose and Long Term Goals
The long term goal of the project is to create an interactive human machine interfacing
(HMI) device. This means that:
1. User(s) would be able to interact on a projection of a screen to control the device.
a. Support multiple touch with multiple hands
2. Interaction should be done with real-time speed (little or no lag delay)
3. High precision and accuracy
4. High portability (users should be able to quickly set up and take down the system;
HMI device should not be locked to a position)
5. Universal support for input devices (should work on devices from smartphones to
computers regardless of operating system)
6. Medium-low cost (should in an average consumers price range for technological
equipment)
The purpose of the creation of such device is to help technological progression of all of
society. This means that the device should be easily tangible to the common mans life. The main
idea in mind is to help productivity in businesses, as a large interactive projection during a
conference could spur more creative and collaborative thinking. Other uses include:
Business: Large projection to help collaboration grow in company to foster creative

thinking.
Entertainment industry: Interactive videogames
Everyday life: can be used in multiple ways in a common household work, cooking,
map planning, family entertainment, as well as in non-conventional areas like a bathroom.
Research: can influence development of more futuristic human-machine interfaces like
the holographs of the future.
4.2 Goal
The goal for phase 1 of the project is:
The goal is to develop and engineering an interactive human-machine
interface for computers, as well as to analyze the effect of adding the
Kalman Filter optimization algorithm.
The goals of the device are to meet the following self-imposed requirements:
10+ frames per second

Universal setup projection working on various surfaces and orientation
Usability (ideally 80% and above) accuracy of touch
4.3 Research Question

In an interactive human machine interface, will the use of Kalman Filters
smoothen and reduce noise in the control of the device? Can the use of
Kalman Filters help optimize movement?
4.4 Constraints
Cost (Funding): Little amount of money limits quality and quantity of devices to be used.
o Little money led to purchase of 3M Roku Streaming Project for $170 (average
price for medium-high quality project at around $300)
Available Resources:
o Kinect for XBOX was available for use before project began, so it was used to
save money.
o Medium-low end computers were used for program and testing
Current State of Technological Research:
o Since this is a new idea, there isnt any direct support for the problem. Instead, the
project will have to be constructed from pieces of existing research.
4.5 Variables
For Kalman filter testing:
Dependent variable: Presence of Kalman Filter
Independent variables: Accuracy, smoothness and rigidity of movement
Control variables:
Types of algorithms used

Type of 3D camera used in HMI device
Type of projector used in HMI device
Distance of 3D camera from projection
Surface of testing area
Finger used for testing
Variables to be controlled throughout the whole project:
Image noise
Type of camera/projector being used in HMI device
Type of computer and software being used
Lightning
Surface of projection
5. Design Process of Implementation

5.1 Drafting
The first instance of drafting occurred in early March of 2013. The models presented are
an initial perspective on the final design. The goal stayed the same: creating a new human
machine interface using 3D vision.
Figure 5.1: Different drafts of an interactive HMI device prototype

The idea revolves on having a very thin pico projector and very small 3D vision camera.
Unfortunately, given the amount of low-cost technology around us, currently both ideas arent
too feasible.
One of the most unique devices considered for a prototype is the Samsung Galaxy Beam. The
Galaxy Beam is a android powered smartphone with an embedded projector. Unfortunately the
projector, with DLP nHD and 15 lumens, displays in fairly low resolution, and needs a very dark
room. At the same time, the phone itself does not have impressive specifications for a price of
$350.
Figure 5.2: The Samsung Galaxy Beam an android powered phone with an embedded
projector (source: http://i-cdn.phonearena.com/images/articles/59957-image/samsung-galaxybeam-0.jpg).
5.2 Current design model The First Prototype

The current testing model settled on is utilizing the Microsoft Kinect and the 3M Roku
Streaming Projector. There is no stand built (the one displayed on my poster is only for
demonstration), though the Kinect normally rests directly above the Projector.
A more in-depth look at the materials used is offered below:
5.2.1 Microsoft Kinect
The Kinect is used since of my immediate access to it, as well as wide support for the
programming of the Kinect. More information can be found in section 3.1.1.
5.2.2 3M Roku Streaming Projector
Figure 5.3: 3M Roku streaming projector (source: http://g-ec2.imagesamazon.com/images/G/01/aplus/detail-page/B008X1BV2Y_image2.jpg)

The 3M Roku streaming projector is aimed at being used for entertainment, as it includes
a Roku streaming stick that allows for connection to Rokus streaming service. However, the
projector also includes a HDMI input, which allows input from a computer or a smartphone. One
of the main reasons for the use was because of the low price in comparison to other picoprojector ($170 on sale compared to the typical $300). The specs are listed below:
Dimensions: 2 x 4 x 4.5
Weight: 1 lb
Maximum Resolution: 800 x 480 (16:9 widescreen)
DLP technology (Texas Instruments technology allowing for projection using a
lightsource and microscopic mirrors. Allows for creation of pico-projectors)
HDMI input
WVGA resolution
Max image size: 120
Brightness: 60 Lumens
5.2.3 OpenCV, OpenNI2 and Visual Studios

Microsofts Visual Studio 2010 was used for the integrated development environment of
the project. The programming language of choice is C++ with the OpenCV 2.4.3 library used for
image processing and recognition.
Figure 5.4: Screenshot of a code written with OpenCV in the Visual Studio 2010 IDE (from last
year)
OpenNI2 is used to handle Kinect processing with OpenCV. It is an open source library
created by PrimeSense, the company responsible for creating the original Kinect. The library
allows for easy access to the camera channels of the Kinect.
5.2.4 Flowchart of Model
Kinect Sensor
Depth Image
RGB Image
Computer
USB
Projector
Projection of
computer
Main processing unit
Windows 7 OS
Runs finger detection algorithm

o Controls mouse movement
HDMI
Figure 5.5: Overall connection of current model

5.2.5 Limitations to Current Model for Testing
Only PC support
o Does not recognize double clicks yet
Noise filtering not perfect

Software calibration not working perfectly (manual calibration used)
6. Methodology
6.1 Overview of Process
The general process:
Initialization:
Mapping of Background
Calibration:
Alignment of Depth and
RGB Maps
Detection:
Finger Detection
Optimization:
Kalman Filter to
Smoothen Movement
Figure 6.1: General outline of software algorithm and methodology
6.2 Initialization
In the initialization process, the main goal is to select the projection as a region of interest
(ROI), and then to analyze the properties of the area inside the region of interest. This method
allows for the use of the device on irregular surfaces, though flat surfaces are still the most
optimal surface type. There are two main steps in the initialization process:
1. User input of ROI using mouse a rectangle is drawn to outline the projection from the
HMI device. This means that the device would calibrate its input to fit the scale of the
projection.
2. Mapping of depth of ROI the initial background in the ROI is mapped and stored. This
is so it is possible to determine when touch is applied to the surface.
The first step defines the region of interest. This implemented by having a user-interface
where the user can select the area by drawing a rectangle. This ROI is very important as all the
future functions will only process inside the ROI (to have faster processing speed). It is also
important for the user to select only the boundaries of the projection, as the program will
calibrate the computer screen to the ROI.
The second step is used in the finger detection stage to detect finger touch. This is
because there needs to be a reference of how the background looks like. Thus, this step takes all
the depth information of aforementioned selected ROI and stores it for later use.
Figure 6.2: Initialization Step
6.3 Calibration
Calibration is performed to align the Kinects depth map to its RGB color map. This is
because in the physical construct of the device, the depth camera is located slightly away from
the RGB camera, and thus they see different images. This means that the (x, y) coordinate of one
map does not match the other. Thus, the calibration is done to correct the one-to-one mapping of
pixels.
Since the calibration is done for aligning the pixels in only two planes (x and y), 3D
calibration is not necessary. 3D calibration would only be needed if the distortion of recorded
depth values made a noticeable difference in data and in calculations. Therefore, only the shift
and the pixel-length ratio need to be calculate. The general idea is described below:
1. Calculate the pixel-length ratio
2. Calculate shift between cameras
3. Adjust depth map to fit RGB map (described in finger detection process)
The pixel-length ratio is necessary for detecting objects accurately on non-linear surfaces,
because this ratio may be different from depth and RGB images. Take the following situation:
Figure 6.3: Environment causing different pixel-length ratios

In this situation, the depth camera (on the left of the RGB camera) will show the object smaller,
as it is farther away from the depth camera than the RGB camera. As a result, directly combining
the two images do not present a workable combination since the sizing is different. Therefore, it
is necessary to find the pixel-length ratio. This is done by taking an object with known size, and
then by comparing it to the length in pixels from each camera. In the current implementation, this
calibration is done by using a blue block of size 77 by 21 millimeters.
The second step is to find the shift between cameras. This is done by tracking the
midpoint of the blue block (same as above) in the depth image, and then subtracting it from the
midpoint of the same block in the RGB image. Thus, the x and y shift is obtained.
Figure 6.4: Zoomed in image calibration phase. Two contours are used to calculate shift
6.4 Finger Detection

Finger detection is the main function of the software developed. It is the process of
recognizing when a finger touches the projection surface. This is done with the help of the initial
3D Depth map recorded in the initialization step. In order to determine if an object has contact
with the projection, an invisible layer is formed over the background. If the finger penetrates
this layer, then it is detected as a touch. This is done by converting the area in between the
invisible layer and the background to a binary image, and then by having the computer process
the image to determine what is a finger and what isnt. Thus, there are two main steps to this
process:
1. Detection of objects touching the projection
2. Recognition of fingers on the objects touching the projection (calculated from step 1)
The first step works similar to the image presented below:
Situation
Thresholded binary image
Figure 6.5: Step 1 of the finger detection process the intersection of an object and the
invisible layer is described as a binary image
The invisible layer is defined as 10 depth units away from the background (which the data was
obtained is the initialization process. Thus, the layer is not linear, but instead is based on the
background texture, allowing for the processing to work on non-linear surfaces. The binary
image is obtained by creating a new binary image based off data from the depth map. If an object
is in that aforementioned 10 depth units range, then a white pixel is placed at the (x, y) position.
Otherwise, the pixel is deemed black.
The second process is to recognize what shapes in the binary image actually correspond
to a finger instead of just noise. The algorithm presented is an optimized version of my detection
algorithms from my previous projects. An expanded look at this process is shown figure 6.5.
The first step is to obtain the binary depth image, which is mentioned above. Then, using
the binary depth image, a Gaussian blur with kernel size [3, 3] is applied to reduce small noise in
the image. This is because the blur uses a statistical normal distribution to operate, which in
return is able remove small noise from the image. It is after the blurring in which the contours
are found.
Contours are filtered by only two variables, as compared to seven from previous versions
of this code, to speed up processing. It is observed through previous years experience that having
more image properties used to filter causes more operations to be calculated per contour per
image frame. The two properties used are area and circularity. Area is used since it can easily
filter out the very large and very small contours that definitely arent fingers. Then, circularity is
used since a finger is relatively circular, and thus can help remove amorphous noise. Before
operations can be done while still retaining a frame rate of 15 or more frames in most cases.
The last method of filtering focuses on one frame noises which appear and disappear in
the next frame. The general outlook is that it takes are noise with finger-like properties and
checks if they have existed in the frame before. The drawback is that it does at a 1 frame delay to
the detection of a finger, but considering a frame rate of at least 15+ frames a second, there ends
up only being a 1/15 second delay. The inclusion of such function drastically improves the
filtering and accuracy of the entire algorithm as observed by qualitative data testing.
It is after the entire contour filtering process in which the centroid of each contours is
calculated. Then, the centroid is modified by the calibration factors above in the form of:
Multiplication operation is very costly in terms of speed for image processing. If the whole
640x480 data was to be operated on by multiplication, speed would drop under 5 frames per
second. Thus, in order to help the speed stay the same, the calibration values only affect the
centroids (which are the only important points in the first place).
Receive binary image
Gaussian blur on image
Find blobs
Yes
No
Has all blobs

been evaluated
yet?
Go to next blob
No
Yes
Does blob have
right area and
circularity?
No
Yes
Has the blob
existed in the
frame before?
Calculate centroid using

image moments
Modify coordinate by
scaling and shift factor
Draw contour
Figure 6.6: Finger detection algorithm flowchart
Figure 6.7: Finger is detected by the algorithm. Although it may seem to be off center, the
position is actually corrected using the calibration factors. Thus, if the image was zoomed in
more, you would see a cross projected on the finger, signifying the true position of the touch.
6.5 Implementation of Kalman Filter into Current Application

The use of Kalman Filter is applied after the centroid of the finger is found in the earlier
steps. In here, the role of the Kalman Filter is to smooth the motion of cursor the finger controls,
as well as to remove noise.
Smoothing occurs as a direct result of Kalman Filter. The prediction given into the model
allows for the cursor to fill in the time intervals between data collection. This naturally creates a
more fluid movement on the computer. At the same time, the prediction causes the movement to
be more realistic; it is based-off velocity. Thus, the effect of any spikes in the centroid position
caused by the detection of white noise will be lessened through the use of a Kalman Filter.
X
Y
Velocity X
Velocity Y
Velocity Y
Velocity X
The model of the Kalman Filter uses velocity, as were as position (x, y). This model
works because given the previous velocity of the arm; a prediction can be made by adding the
previous velocities to the previous state. Thus, the state ( ) is represented by a 4 by 1 vector.
The vector is in the format (x, y, velocity_x, velocity_y). The transition matrix (A) performs the
operation of adding the velocity to the current state, and is shown in figure 3.12.
Figure 3.12: Transition matrix (A)

When implementing the algorithm in coding, there actually exists a function in OpenCV
to implement a Kalman Filter. It consists for four separate functions: one to initialize the Kalman
Filter, one to predict to next state, one to receive and store the measurements, and one to correct
the current state. The program coding is shown in figure 6.7.
Initialization:
KalmanFilter KF(4, 2, 0);
Mat_<float> state(4, 1);
Mat processNoise(4, 1, CV_32F);
Mat_<float> measurement(2,1);
measurement.setTo(Scalar(0));
KFs.statePre.at<float>(0)
=
=
=
=
KFs.statePost.at<float>(0)
x;
y;
0;
0;
=
=
=
=
x;
y;
0;
0;
KFs.transitionMatrix = *(Mat_<float>(4, 4) << 1,0,1,0,

0,0,0,1);
setIdentity(KFs.measurementMatrix);
setIdentity(KFs.processNoiseCov, Scalar::all(1e-4));
setIdentity(KF.measurementNoiseCov, Scalar::all(1e-3));
setIdentity(KFs.errorCovPost, Scalar::all(.1));
General Coding to Predict (Step 1)
0,1,0,1,
0,0,1,0,
Point step1()
{
Mat prediction = KFs.predict();
Point predictPt(prediction.at<float>(0),prediction.at<float>(1));
return predictPt;
}
General Coding to Input Measurement*

void changeMeasure(float x,float y)
{
measurements(0) = x;
measurements(1) = y;
}
General Coding to Correct (Step 2)

Point step2()
{
Mat estimated = KFs.correct(measurements);
Point statePt(estimated.at<float>(0),estimated.at<float>(1));
return statePt;
}
Figure 6.7: Example coding for the Kalman Filter
7. Experimentation
All current experimentation was done with the following setup:
Figure 7.1: Setup for experimentation of interactive HMI device
7.1 Accuracy Testing

The first test was on the accuracy of the device. The data taken for analysis is the
Euclidean distance between the true center (predefined) and the center of touch recognized by
the software. A simple procedure is outlined below:
7.1.1 Method for Testing
1. Test points were randomly generated (one pixel points with a larger outer circle to make
it visible to the experimenter)
a. 15 points were chosen
2. The image was loaded into a drawing software (like Microsoft Paint or Adobe Photoshop)
3. The HMI device software was run
a. The software was calibrated to a projection of the computer (via HDMI cable) on
the wall.
4. The experimenters finger attempted to touch the center of every single point once at a
normal pace.
a. A 1 pixel radius brush was selected.
5. The distance between the targets center and the furthest drawn pixel for that target was
calculated
a. This is because in the current implementation, a click and a click and hold is
determined by the length of time the finger is touching the surface. However, with
that threshold, a small line may be drawn, even though it is still a click.
To following image was used for testing:
1
7
8
12
10
11
14
15
13
Figure 7.2: Image file used for experimentation (omit the number labels).The 1 pixel center
points are there; the image has to be compressed in size to fit on this page.
7.1.2 Data from Experimentation
In total, 3 trials were tested, yielding a 45 data point total.
Target
Number
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
Average:
Trial 1
18.02775638
22.47220505
16.64331698
18.38477631
18.78829423
21.9317122
7.280109889
25.49509757
12.08304597
21.09502311
15.23154621
17.2626765
18.43908891
25.96150997
29.01723626
19.2075597
Distance of Point from Center (pixels)

Trial 2
Trial 3
28.0713377
11.40175425
8.94427191
16.4924225
17.49285568
12.64911064
26.01922366
25.29822128
19.02629759
30.8058436
20.59126028
20.61552813
30.08321791
12.04159458
25.05992817
22.6715681
19.6977156
18.43908891
15.65247584
24.33105012
18.43908891
9.848857802
22.47220505
24.51530134
15
18.02775638
26.40075756
17.02938637
38.62641583
22.8035085
22.10513678
19.1313995
Average
19.16695
15.96963
15.59509
23.23407
22.87348
21.04617
16.46831
24.40886
16.73995
20.35952
14.5065
21.41673
17.15562
23.13055
30.14905
20.14803
Distance from Center (pixels)
Average Distance of Touch from Center

35
30
25
20
15
10
5
0
1
10
11
12
13
14
15
Target Number
Figure 7.3: Average distance of point of touch from center point per target over a course of 3
trials
Average Distance of Touch from Center per Trial

Distance from Center (pixels)
22.5
22
21.5
21
20.5
20
19.5
19
18.5
18
17.5
1
Trial Number
Figure 7.4: Average distance of point of touch from center point per trial over 15 targets
Distribution of Distance from Center

12
Frequency
10
8
6
4
2
0
9
11 13 15 17 19 21 23 25 27 29 31 33 35 37 39
Pixels from Center
Figure 7.5: Distribution of distance of point of touch from center point per trial over 15 targets
and 3 trials
7.1.3 Observations
Currently, the average mean of the data seems to be around 20 pixels. This means that it
is expected to have up to a 20 pixel displacement during a touch with the current beta stage of
the algorithm. The standard deviation for the data range is at 6.312967, meaning that 99.7% of
the time, the worst possible situation will present a deviation of 39 pixels from the actual area of
contact. Since the data was recorded from a computer resolution of 1366 by 768, the error is
small, averaging around 1 to 2% error. For reference, the approximate size of my own finger tip
is a circle with radius of 30 pixels, thus having an error averaging a 20 pixel displacement will
make little to no visual difference in the performance of the software.
7.2 Effects of Use of Kalman Filter

The second test was to compare the smoothness and accuracy of the use of a Kalman
Filter to control mouse movement over the movement without the use of a Kalman Filter. The
test conducted compared the statistical properties of an array of (x, y) coordinates recorded from
a finger tracing various shapes.
8 shapes were used in total

o 5 trials were tested per shape
50-400 data points logged per shape.
In total: Over 5000 data points were recorded and analyzed
7.2.1 Method for Testing

1. Several shapes were drawn beforehand as jpeg files.
2. The image was loaded into a drawing software (like Microsoft Paint or Adobe Photoshop)
3. The HMI device software was run
a. The software was calibrated to a projection of the computer (via HDMI cable) on
the wall.
4. The experimenters finger traced the shape
a. The exact shape and path of the finger does not have to be to pin-point accuracy.
What matters most is that the general shape is captured, and both the raw
measurement and the Kalman Filter processed data are recorded.
5. The program recorded the movement of both the original raw data and the processed
Kalman Filter optimized data.
6. Data analysis was done for all trials on all data points.
a. The obtained (x, y) coordinates were compared to a moving average of window 5
7.2.2 Data from Experiment
The entire data can be found in Appendix B.
Data: Vertical Tracing Error from Line 1 (y-coordinate):
The idea here is to see the shift of the vertical movement of the mouse when a horizontal
line is drawn. Three statistical properties were analyzed when the respective coordinates were
compared with the moving average of a window of 5 elements. Mean is the arithmetic average
and maximum is the highest value. RMS stands for Root Mean Square, which is measure of the
magnitude of a varying quantity. In this data analysis, root-mean-square roughness is used, and is
defined as:
Figure 7.6: RMS roughness equation used

Trial
Number
1
2
3
4
5
Average:
Mean (pixel disparity)
Maximum (pixel disparity)
RMS* (pixel disparity)
Kalman Filter
Raw
Measurement
Kalman Filter
Raw
Measurement
Kalman Filter
Raw
Measurement
0.226666667
0.440650407
0.295238095
0.218390805
0.435714286
0.323332052
0.368
0.492682927
0.380952381
0.542528736
0.578571429
0.472547094
0.8
1.4
1.2
1
1.8
1.24
1.2
1.8
1.6
1.4
2
1.6
0.295446931
0.536070213
0.43570778
0.345967465
0.608276253
0.444293728
0.509116882
0.639359436
0.582959064
0.651552817
0.76997217
0.630592074
Statistical Comparison for Vertical Tracing

Error
Average Difference (pixels)
1.8
1.6
1.4
1.2
1
Kalman Filter
0.8
Raw Measurement
0.6
0.4
0.2
0
Mean
Max
RMS
Likewise, in the same way, the horizontal tracing error was tested.
Data: Horizontal Component from Line 2 (x-coordinate):
Trial
Number
1
2
3
4
5
Average:
RMS (pixel disparity)
Kalman Filter
Raw
Measurement
Kalman Filter
Raw
Measurement
Kalman Filter
Raw
Measurement
0.412962963
0.425925926
0.232911392
0.484615385
0.361006289
0.383484391
0.703703704
0.4
0.410970464
0.687179487
0.533333333
0.547037398
2
1.333333333
1
2.333333333
1
1.533333333
2.8
1.4
1.6
2.666667
1.4
1.973333333
0.608682041
0.544104202
0.318929292
0.664226303
0.473268664
0.5218421
0.953615602
0.551541051
0.51808367
0.879782413
0.647264847
0.710057517
Statistical Comparison for Horizontal

Tracing Error
2.5
2
1.5
Kalman Filter
1
Raw Measurement
0.5
0
Mean
Max
RMS
Data: Analysis of Shift from Moving Average (Both X and Y coordinates)

Shape
RMS (pixel disparity)
Kalman Filter
Raw
Measurement
Kalman Filter
Raw
Measurement
Kalman Filter
Raw
Measurement
Circle
Star
Triangle
Figure 8
Heart
Lightning
Average:
0.760306277
1.217517502
0.926119171
0.922734121
0.749682013
1.12444493
0.950134003
1.04597043
1.484209298
1.228783885
1.17925881
0.98949269
1.316371013
1.207347688
2.68
5.4
4.84
3.56
3.24
4.32
3.351666667
5.04
6.92
7.12
4.88
5.04
5.64
4.776667
0.950901852
1.606905262
1.302888577
1.177789274
0.966851601
1.468219327
1.245592649
1.392267514
1.986660438
1.757424069
1.544603127
1.31221052
1.697575176
1.615123474
Percent
Improvement:
21.3040276%
30.6004619%
22.8794164%
Statistical Comparison of Tracing Error

7
6
5
4
Kalman Filter
3
Raw Measurement
2
1
0
Mean
Max
RMS
7.2.3 Observations
Since it is impossible to find the true position of the finger movement, a moving average
is used as an approximation. One benefit of using moving average is that it checks the validity
of the mouse movement. That is, in a continuous function, since there are no abrupt motions, the
actual recorded data points should be near the moving average. The graphs from the experiment
all show an identical pattern: the Kalman Filter has less pixel displacement from the moving
average. In fact, the use of a Kalman Filter provided at least a 20% improvement in the accuracy
of movement of mouse as compared to without the use of a Kalman Filter. The most
improvement was seen the max value, signifying that Kalman Filter is less effected by noise.
Another important observation not visible in the numerical data is the total number of
peaks (spikes) present in the movement (refer to Appendix B for the visual graphs). It can be
seen that without the use of Kalman Filter, there is a drastic increase in the number of spikes.
From observation, it would be reasonable to suggest that the use of a Kalman Filter can reduce
the peak count by more than 50%.
8. Conclusion
This project introduces a completely new idea for a device that can help increase
collaboration in businesses and research, as well as a method to create new human-machine
interfaces. The idea proposed is to create a full functional portable interactive HMI Device. In
the first phase of the project presented here, a prototype was designed and testing using the
Microsoft Kinect and a pico projector. The device used a combination of both depth sensing
image analysis and Kalman Filter optimization.
In conclusion of the first phase of the project, it can be seen that the current prototype of
the device works well. From the two experiments conducted, it can be seen that the device has
high accuracy, and as improved on by the use of a Kalman Filter. In the first experiment, the
device was seen, on average, to have only up to a 20 pixel difference from the true point. In the
second experiment, the use of a Kalman Filter on to the device helped improve rigidity,
resistance to noise, and overall the accuracy by over 20%.
The first experiment tested the accuracy of touch in the device. 60 data points were
conducted in total over the course of 3 trials of 15 targets, and were tested for the Euclidean
distance between the true point and the detecting fingertip point on a laptop screen resolution of
1366 by 768 pixels. It is seen in the analysis of the data that the average mean of this
displacement is around 20 pixels, signifying that on average it is expected to have up to a 20
pixel displacement during a finger touch. The largest recorded displacement for these 60 data
points is at 39 pixels. However, it is important to consider the fact that when a finger touches any
surface, there more than just one pixel making contact with the surface. From observation, it can
be approximated that a fingertip touching a surface will have an area of a circle with at least a 30
pixel radius. Thus, it can be concluded that there should not be any noticeable difference in the
position of a finger touch with up to 3 standard deviations (99.7%).
The second experiment presented an extensive comparison between the use of an
algorithm with Kalman Filter optimization and the use of an algorithm without Kalman Filters
for controlling the movement of the mouse. In a data sample of over 5000 data points, spread
across 40 trials in 8 unique shapes, a general trend was found. In all shapes, in all trials, and in
almost all data points, the Kalman Filter optimization provided over 20% improvement in mean
displacement, maximum peak, and root-mean-square roughness over an algorithm without the
use of the optimization. In terms of mean displacement between the mouse movement and a
calculated moving average, the use of a Kalman Filter boasted 21% improvement. The use of a
Kalman Filter saw a 31% improvement in reducing the peak size. Finally, Kalman Filter
optimization had a 23% improvement in the root-mean-square roughness of the mouse
movement. Another important comparison is the number of peaks present in each shape, as from
the graphs it can be expected with high-confidence that the Kalman Filter can provide more than
50% improvement in reducing the number of peaks. All of these points easily show that Kalman
Filter optimization is very beneficial to smoothing and improvement accuracy of mouse
movement.
The results of both experiments show a clear indication that the methodology presented
in this project works well with high accuracy and low error rates. The initialization stage enables
the device the work in almost any environment. The finger detection algorithm allows for
accurate measurement of finger touch position, and is supported by experiment 1. Finally, the
use of Kalman Filters to optimize mouse movement is clearly justified with the massive
improvements in accuracy gained. Thus, the methodology can be used to create a novel HMI
device that is portable and can realistically be used.
9. Extensions: Support Vector Machine Classification to

Improve Finger Recognition
9.1 Purpose
In the first variant of the methodology, one of the biggest weaknesses was the accuracy of
finger recognition. The old finger recognition technique worked most of the time, though
sometimes some small noise was recognized as a finger. However, as the screen projection got
larger, the accuracy of the device significantly got worse. One of the main reasons is that the
classification was done using fixed values of area, perimeter, and circularity. Therefore, it would
make sense that the accuracy would drop for larger screens, as there were less pixels to define a
finger touch. Thus, it was decided that a more adaptable and reliable recognition method was
needed to improve the overall quality of the device.
9.2 The Support Vector Machine (SVM)
The support vector machine (SVM) is a classification algorithm. This means that the
algorithm is able to determine what a data point should be classified depending on the initial
training data (data initially used to tell the algorithm what different types of data points are
classified). The support vector machine itself was introduced in 1963 by Vapnik as a linear
classifier. However, the most well-known paper is, A training algorithm for optimal margin
classifiers by Boser, Guyon, and Vapnik (1992), which describes non-linear methods to the SVM.
In the last decade, the use of support vector machines in research, such as cancer detection, has
increased almost exponentially.
The main benefit from using a support vector machine is that it is able to find the optimal
estimator function based on the set of training data. This makes the algorithm highly effective
and efficient in classifying new data points (not seen in the training data). Other benefits from
using the SVM is that it finds the global optimal, whereas other conventional methods such as
neural networks sometimes fail to find the global optimum, finding a non-optimal local
maximum instead. Finally, in comparison to other techniques like neural networks and decision
trees, the SVM is easier to use. Thus, although highly-optimized data pre-processing used on
these methods may yield the same or similar results, the chance of having good results from a
SVM is much higher.
Area
Stars
Circle
Extent
Figure 9.1: Example visualization of classification problem

What the SVM finds is the optimal hyperplane that can separate two unique sets of data.
The most optimal hyperplane would maximize the distance (margin) between itself and the
nearest sets of data. The nearest sets of data points (indicated by yellow in figure 9.1) are called
support vectors. Moving support vectors will directly affect the optimum hyperplane.
Figure 9.2: Effects of moving a support vector (source: Berwick 2003 presentation)
Figure 9.3: In-depth visualization of hyperplanes in SVM problem (source: Berwick 2003
presentation)
The problem can be formalized to the example in figure 9.3. The optimum hyperplane is
described as
where w is the normal vector to the hyperplane, x is the set of points
x satisfying the equation, and the offset from the origin is calculated by . is the Euclidian

length of the vector, which is defined as

related to the cosine of the angle between both vectors.
. The dot product in
is directly
Likewise the hyperplane for the support vectors are denoted as

and
, which classifies data points above
as 1 and data points below
+
as -1. The margin can be seen as d + d .
The distance between H (optimum hyperplane) and H1 is
which is . Thus, the
margin is mathematically defined as . The goal of the SVM is to minimize , which can
more effectively be done by solving the quadratic (modified form) using quadratic
programming techniques.
The above process shows the general process for support vector machines in linear
classifications. For non-linear classification problems, a process called kernelling is used. The
general idea of kernelling is to map the problem to a higher dimension, which allows for
classification equations to be solved. The structure of the algorithm is still the same, but the dot
products are replaced by a kernel function. For example, the kernel function for a polynomial is
defined as (
) (
) . However, one of the more commonly used kernelling function
is a Gaussian radial basis function which maps the problem to an infinite dimension, Hilbert
space, and is defined as (
Figure 9.4: Example of SVM classification with different kernels.
Figure 9.5: Visualization of output result of support vector machine with an rbf kernel
9.3 Use of Support Vector Machine in Methodology
Support vector machines were implemented in this newer build of the software in order to
improve the accuracy of finger recognition, as the first variant had troubles with this aspect. The
machine learning portion of the OpenCV library was used for the implementation. The
parameters of the support vector machine used are automatically optimized by a predefined
function. Generally speaking, the support vector machine mode is set to a two-class problem, and
the kernel used is for non-linear functions (most likely an rbf kernel).
Over 700 contours (shapes) were used in the training data. Of these, around 100 of the
contours were fingers. For each shape, the area, perimeter, circularity, and extent was calculated
and used as the training data. To obtain the training data, two bitmap image files were created.
One file was for fingers, and one was for non-fingers (other shapes, noise, etc).
Figure 9.6: Finger bitmap input for training data
Figure 9.7: Non-finger bitmap input for training data.

Shapes defined as fingers were found by directly taking screenshots on the depth map
binary image from the original version of the software. Noise was taken in the same way. At the
beginning of the algorithm, the software reads, finds the contours (around 700) and calculates the
area, perimeter, circularity, and extent for each contour. The shape feature data was placed into
two separate vectors, one vector defining finger properties, and for non-finger properties. These
vectors were done used to automatically define SVM parameters and train the SVM. Then, when
the software is in the finger recognition step (filtering contours), the SVM is called to classify the
current datapoint. If the datapoint is recognized as a finger, then the blob is determined to be a
finger.
Read bitmap images for

training Data
Find all blobs
Calculate area,
perimeter, circularity,
and extent for each blob
Find optimal
parameters using
training data
Train the SVM
Figure 9.8: Initialization flowchart using SVMs
Receive binary image
Gaussian blur on image
Find blobs
Yes
No
Has all blobs

been evaluated
yet?
Go to next blob
No
Yes
Is blob classified
as a finger from
SVM?
No
Yes
Has the blob
existed in the
frame before?
Calculate centroid using

image moments
Modify coordinate by
scaling and shift factor
Draw contour
Figure 9.8: Shape recognition process using support vector machines
10. Future Work

Future work comes into the general sections:
Phase 2:
Adding support for Android phones

Fixing automatic calibration
Improve noise filtering
Improve delay time between computer and HMI device
o Implementing double clicking on computer implementation
Further optimization of finger detection
Phase 3:
Condensing HMI device into a more compact model that is truly portable
Optimizing support for Android.
o Possibly adding support for iOS platforms
Fixing errors in phase 2
Possible addition of support vector machines to improve recognition
Figure 10.1: Sketch of physical model of HMI device for phase 3
Phase 4 and beyond:
Switching 3D vision camera to more accurate and smaller model:

Finalization of portable HMI device
Figure 10.2: Occipitals new micro-sized 3D cameras for iPhones and iPads.
11. References
Andersen, M.R., T. Jensen, P. Lisouski, A.K. Mortensen, M.K. Hansen, T. Gregersen, and P.
Ahrendt. "Kinect Depth Sensor Evaluation for Computer Vision Applications." Diss.
Aarhus University, Department of Engineering, 2012. Aarhus University, Feb. 2012.
Web. 20 Feb. 2014.
Borenstein, Greg, Andrew Odewahn, and Brian Jepson. Making Things See: 3D Vision with
Kinect, Processing, Arduino, and MakerBot. Sebastopol, CA: O'Reilly, 2012. Print.
Bradski, G., & Kaehler, A. (2008). Learning OpenCV. Sebastopol, CA: O'Reilly Media, Inc.
Brunl, T. (2006). Embedded Robotics. Springer-Verlag.Chen, G., & Guo, L. (2005).
Catuhe, David. Programming with the Kinect for Windows Software Development Kit. Redmond,
WA: Microsoft, 2012. Print.
Chen, S. Y. "Kalman filter for robot vision: a survey." Industrial Electronics, IEEE Transactions
on 59.11 (2012): 4409-4420.
Cheng, Luo. "Fiber Surface Characterization By Laser Back Scattering." Diss. University of
Tennessee, 1989. Print.
Falahati, Soroush. OpenNI Cookbook: Learn How to Write NIUI-based Applications and
Motion-controlled Games. Birmingham: Packt Limited, 2013. Print.
Farrell, J. (2001). Object-Oriented Programming Using C++. Canada: Course Technology.
Kent, J. (2003). C++ Demystified. Emeryville, CA: McGraw-Hill.
Khoshelham, Kourosh. "Accuracy analysis of kinect depth data." ISPRS workshop laser
scanning. Vol. 38. No. 5. 2011.
Khoshelham, Kourosh, and Sander Oude Elberink. "Accuracy and resolution of kinect depth data
for indoor mapping applications." Sensors 12.2 (2012): 1437-1454.
Malmsten, Paul. "Object Discovery With a Microsoft Kinect." Diss. Worcester Polytechnic
Institute, 2012. 15 Dec. 2012. Web. 20 Feb. 2014.
Mehrotra, Sanjeev, et al. "Low-complexity, near-lossless coding of depth maps from kinect-like
depth cameras." Multimedia Signal Processing (MMSP), 2011 IEEE 13th International
Workshop on. IEEE, 2011.
Parker, J. R. (1994). Practical Computer Vision Using C. Canada: John Wiley & Sons, Inc..
Prata, S. (2004). C++ Primer Plus (5th ed.). Indianapolis, IN: SAMs Publishing.
Raheja, Jagdish L., Ankit Chaudhary, and Kunal Singal. "Tracking of fingertips and centers of
palm using kinect." Computational Intelligence, Modelling and Simulation (CIMSiM),
2011 Third International Conference on. IEEE, 2011.
Ren, Zhou, et al. "Robust hand gesture recognition with kinect sensor." Proceedings of the 19th
ACM international conference on Multimedia. ACM, 2011.
Zhao, Qi-jie, et al. "Kalman filter based vision predicting and object tracking method and its
application [J]." Optics and Precision Engineering 5 (2008): 028.
Appendix A: Experimentation Data from Accuracy Data

Image Files
Trial 1:
Trial 2:
Trial 3:
Appendix B: Experimentation Data from Kalman Filter

Comparison
Line 1:
Trial 1:
Kalman Filer Data:
Kalman:
X
163
173
180
188
197
206
215
219
233
244
253
260
266
272
277
280
284
286
289
290
292
292
291
290
289
Moving
Average:
Difference:
Y
56
55
55
56
57
57
58
58
59
59
59
59
58
58
58
58
58
57
57
57
57
57
57
57
56
56
55.33333333
55.8
56
56.6
57.2
57.8
58.2
58.6
58.8
58.8
58.6
58.4
58.2
58
57.8
57.6
57.4
57.2
57
57
57
56.8
56.66666667
56
0
-0.333333333
-0.8
0
0.4
-0.2
0.2
-0.2
0.4
0.2
0.2
0.4
-0.4
-0.2
0
0.2
0.4
-0.4
-0.2
0
0
0
0.2
0.333333333
0
Difference
(abs):
Statistics:
Mean:
0 0.226666667
0.333333333
0.8 Maximum:
0
0.8
0.4
0.2 Sum:
0.2 5.666666667
0.2
0.4 RMS:
0.2 0.295446931
0.2
0.4
0.4
0.2
0
0.2
0.4
0.4
0.2
0
0
0
0.2
0.333333333
0
Raw Measurement Data:

Raw:
X
164
173
180
189
197
208
216
216
238
246
252
259
264
272
276
278
283
285
288
290
291
291
290
289
289
Moving
Average:
Difference
Difference: (abs):
Y
56
56
56
57
57
57
59
59
59
59
59
60
58
58
58
59
58
57
58
58
58
58
57
57
57
56
56
56.4
56.6
57.2
57.8
58.2
58.6
59
59.2
59
58.8
58.6
58.6
58.2
58
58
58
57.8
57.8
57.8
57.6
57.4
57
57
0
0
-0.4
0.4
-0.2
-0.8
0.8
0.4
0
-0.2
0
1.2
-0.6
-0.6
-0.2
1
0
-1
0.2
0.2
0.2
0.4
-0.4
0
0
Statistics:
Mean:
0
0.368
0
0.4 Maximum:
0.4
1.2
0.2
0.8 Sum:
0.8
9.2
0.4
0 RMS:
0.2
0.509117
0
1.2
0.6
0.6
0.2
1
0
1
0.2
0.2
0.2
0.4
0.4
0
0
Y-coordinate
Line 1 Trial 1 Kalman Filter

59.5
59
58.5
58
57.5
57
56.5
56
55.5
55
54.5
Moving Average
Kalman Filter
150
200
250
300
X-coordinate
Y-coordinate
Line 1 Trial 1 Raw Measurement

59.5
59
58.5
58
57.5
57
56.5
56
55.5
55
54.5
Moving Average
Raw Data
150
200
250
X-coordinate
300
Trial 2:
Kalman Filer Data:
Kalman:
X
11
14
16
19
24
29
36
43
51
61
72
77
96
111
126
139
144
164
182
197
210
222
233
241
248
255
262
268
274
280
283
286
289
291
293
293
293
Moving
Average:
Difference:
Y
54
56
57
56
57
56
56
57
57
58
58
59
58
57
56
54
53
54
55
57
58
59
59
60
59
60
59
59
57
57
56
57
57
56
55
55
56
54
0
55.66666667 0.333333333
56
1
56.4
-0.4
56.4
0.6
56.4
-0.4
56.6
-0.6
56.8
0.2
57.2
-0.2
57.8
0.2
58
0
58
1
57.6
0.4
56.8
0.2
55.6
0.4
54.8
-0.8
54.4
-1.4
54.6
-0.6
55.4
-0.4
56.6
0.4
57.6
0.4
58.6
0.4
59
0
59.4
0.6
59.4
-0.4
59.4
0.6
58.8
0.2
58.4
0.6
57.6
-0.6
57.2
-0.2
56.8
-0.8
56.6
0.4
56.2
0.8
56
0
55.8
-0.8
55.6
-0.6
55.6
0.4
Difference
(abs):
Statistics:
Mean:
0 0.440650407
0.333333333
1 Maximum:
0.4
1.4
0.6
0.4 Sum:
0.6 18.06666667
0.2
0.2 RMS:
0.2 0.536070213
0
1
0.4
0.2
0.4
0.8
1.4
0.6
0.4
0.4
0.4
0.4
0
0.6
0.4
0.6
0.2
0.6
0.6
0.2
0.8
0.4
0.8
0
0.8
0.6
0.4
292
291
291
291
56
56
57
57
56
0
56.4
-0.4
56.66666667 0.333333333
57
0
0
0.4
0.333333333
0
Y-coordinate

61
60
59
58
57
56
55
54
53
52
Moving Average
Kalman Filter
50
100
150
200
250
300
X-coordinate

61
60
Y-coordinate
59
58
57
Moving Average
56
Raw Data
55
54
53
0
50
100
150
X-coordinate
200
250
300

Raw:
X
12
14
17
20
25
31
38
45
54
64
75
75
104
115
128
139
139
171
186
198
209
220
232
238
246
254
261
267
274
279
282
285
288
291
292
292
292
291
Moving
Average:
Difference
Difference: (abs):
Y
55
56
57
56
57
56
57
58
58
58
59
59
57
57
56
54
54
56
57
58
59
59
60
60
59
60
59
59
56
58
57
58
57
56
55
56
57
57
55
56
56.2
56.4
56.6
56.8
57.2
57.4
58
58.4
58.2
58
57.6
56.6
55.6
55.4
55.4
55.8
56.8
57.8
58.6
59.2
59.4
59.6
59.6
59.4
58.6
58.4
57.8
57.6
57.2
57.2
56.6
56.4
56.2
56.2
56.4
56.8
0
0
0.8
-0.4
0.4
-0.8
-0.2
0.6
0
-0.4
0.8
1
-0.6
0.4
0.4
-1.4
-1.4
0.2
0.2
0.2
0.4
-0.2
0.6
0.4
-0.6
0.6
0.4
0.6
-1.8
0.4
-0.2
0.8
0.4
-0.4
-1.2
-0.2
0.6
0.2
Statistics:
Mean:
0 0.492682927
0
0.8 Maximum:
0.4
1.8
0.4
0.8 Sum:
0.2
20.2
0.6
0 RMS:
0.4 0.639359436
0.8
1
0.6
0.4
0.4
1.4
1.4
0.2
0.2
0.2
0.4
0.2
0.6
0.4
0.6
0.6
0.4
0.6
1.8
0.4
0.2
0.8
0.4
0.4
1.2
0.2
0.6
0.2
291
291
291
57
57
57
57
57
57
0
0
0
0
0
0

60
Y-coordinate
59
58
57
56
Moving Average
55
Kalman Filter
54
53
0
50
100
150
200
250
300
X-coordinate

61
60
Y-coordinate
59
58
57
Moving Average
56
Raw Data
55
54
53
0
50
100
150
X-coordinate
200
250
300
Trial 3:
Kalman Filer Data:
Kalman:
X
8
13
20
22
30
33
43
55
68
80
95
106
115
126
137
142
162
181
196
203
224
239
244
262
275
281
285
287
288
289
288
287
287
287
288
289
290
Moving
Average:
Difference:
Y
55
56
57
57
55
54
55
55
56
58
58
59
58
57
57
57
58
57
58
58
59
58
58
58
58
59
58
58
58
58
58
57
57
57
57
57
57
55
56
56
55.8
55.6
55.2
55
55.6
56.4
57.2
57.8
58
57.8
57.6
57.4
57.2
57.4
57.6
58
58
58.2
58.2
58.2
58.2
58.2
58.2
58.2
58.2
58
57.8
57.6
57.4
57.2
57
57
57
57.2
0
0
1
1.2
-0.6
-1.2
0
-0.6
-0.4
0.8
0.2
1
0.2
-0.6
-0.4
-0.2
0.6
-0.6
0
0
0.8
-0.2
-0.2
-0.2
-0.2
0.8
-0.2
-0.2
0
0.2
0.4
-0.4
-0.2
0
0
0
-0.2
Difference
(abs):
Statistics:
Mean:
0 0.295238095
0
1 Maximum:
1.2
1.2
0.6
1.2 Sum:
0 16.53333333
0.6
0.4 RMS:
0.8 0.43570778
0.2
1
0.2
0.6
0.4
0.2
0.6
0.6
0
0
0.8
0.2
0.2
0.2
0.2
0.8
0.2
0.2
0
0.2
0.4
0.4
0.2
0
0
0
0.2
290
290
290
290
290
290
290
290
289
289
289
289
289
289
289
289
290
57
58
58
58
58
58
58
58
58
58
57
57
57
57
57
57
57
290
290
57
58
57.4
57.6
57.8
58
58
58
58
58
57.8
57.6
57.4
57.2
57
57
57
57
57.2
-0.4
0.4
0.2
0
0
0
0
0
0.2
0.4
-0.4
-0.2
0
0
0
0
-0.2
57.33333333 0.333333333
58
0
0.4
0.4
0.2
0
0
0
0
0
0.2
0.4
0.4
0.2
0
0
0
0
0.2
0.333333333
0

Moving
Average:
Raw:
X
Difference:
Y
9
56
56
13
21
21
32
32
48
59
71
83
98
105
114
126
138
138
171
185
197
197
232
238
238
267
274
276
280
284
284
287
286
286
286
288
289
290
290
290
56
57
57
54
54
56
56
57
59
59
59
58
57
58
58
59
57
59
59
59
58
58
58
59
60
58
59
59
58
58
58
58
57
58
58
58
58
56.33333333
56
55.6
55.6
55.4
55.4
56.4
57.4
58
58.4
58.4
58.2
58
58
57.8
58.2
58.4
58.6
58.4
58.6
58.4
58.4
58.6
58.6
58.8
59
58.8
58.4
58.4
58.2
57.8
57.8
57.8
57.8
57.8
58
58
0
0.333333333
1
1.4
-1.6
-1.4
0.6
-0.4
-0.4
1
0.6
0.6
-0.2
-1
0
0.2
0.8
-1.4
0.4
0.6
0.4
-0.4
-0.4
-0.6
0.4
1.2
-1
0.2
0.6
-0.4
-0.2
0.2
0.2
-0.8
0.2
0.2
0
0
Difference
(abs):
Statistics:
Mean:
0 0.380952381
0.333333333
1
1.4
1.6
1.4
0.6
0.4
0.4
1
0.6
0.6
0.2
1
0
0.2
0.8
1.4
0.4
0.6
0.4
0.4
0.4
0.6
0.4
1.2
1
0.2
0.6
0.4
0.2
0.2
0.2
0.8
0.2
0.2
0
0
Maximum:
1.6
Sum:
21.33333333
RMS:
0.582959064
290
290
290
290
290
290
290
290
290
290
290
290
290
290
290
290
290
290
58
58
58
58
58
58
58
58
58
58
58
58
58
58
58
58
58
58
58
58
58
58
58
58
58
58
58
58
58
58
58
58
58
58
58
58
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0

60
Y-coordinate
59
58
57
56
Moving Average
55
Kalman Filter
54
53
0
50
100
150
200
250
300
X-coordinate

61
60
Y-coordinate
59
58
57
Moving Average
56
Raw Data
55
54
53
0
50
100
150
X-coordinate
200
250
300
Trial 4:
Kalman Filer Data:
Kalman:
X
9
10
14
16
22
31
35
59
82
102
122
131
159
182
196
211
222
230
238
248
257
266
275
283
288
290
291
291
289
Moving
Average:
Difference:
Y
53
54
55
56
57
56
56
56
57
57
56
55
55
55
55
55
55
55
55
55
55
55
55
56
56
56
56
56
57
53
54
55
55.6
56
56.2
56.4
56.4
56.4
56.2
56
55.6
55.2
55
55
55
55
55
55
55
55
55.2
55.4
55.6
55.8
56
56.2
0
0
0
0.4
1
-0.2
-0.4
-0.4
0.6
0.8
0
-0.6
-0.2
0
0
0
0
0
0
0
0
-0.2
-0.4
0.4
0.2
0
-0.2
56.33333333 0.333333333
57
0
Difference
(abs):
Statistics:
Mean:
0 0.218390805
0
0 Maximum:
0.4
1
1
0.2 Sum:
0.4 6.333333333
0.4
0.6 RMS:
0.8 0.345967465
0
0.6
0.2
0
0
0
0
0
0
0
0
0.2
0.4
0.4
0.2
0
0.2
0.333333333
0

Raw:
X
10
10
15
17
24
35
35
73
90
106
125
125
169
185
191
209
218
226
235
247
257
266
275
282
286
287
288
288
286
Moving
Average:
Difference:
Y
54
54
55
56
57
56
56
57
58
57
55
55
56
56
55
56
56
55
56
56
56
55
55
57
56
56
57
57
57
54
54.33333333
55.2
55.6
56
56.4
56.8
56.8
56.6
56.4
56.2
55.8
55.4
55.6
55.8
55.6
55.6
55.8
55.8
55.6
55.6
55.8
55.8
55.8
56.2
56.6
56.6
57
57
0
-0.333333333
-0.2
0.4
1
-0.4
-0.8
0.2
1.4
0.6
-1.2
-0.8
0.6
0.4
-0.8
0.4
0.4
-0.8
0.2
0.4
0.4
-0.8
-0.8
1.2
-0.2
-0.6
0.4
0
0
Difference
(abs):
Statistics:
Mean:
0 0.542528736
0.333333333
0.2 Maximum:
0.4
1.4
1
0.4 Sum:
0.8 15.73333333
0.2
1.4 RMS:
0.6 0.651552817
1.2
0.8
0.6
0.4
0.8
0.4
0.4
0.8
0.2
0.4
0.4
0.8
0.8
1.2
0.2
0.6
0.4
0
0
Y-coordinate

57.5
57
56.5
56
55.5
55
54.5
54
53.5
53
52.5
Moving Average
Kalman Filter
50
100
150
200
250
300
X-coordinate
Y-coordinate

58.5
58
57.5
57
56.5
56
55.5
55
54.5
54
53.5
Moving Average
Raw Data
50
100
150
X-coordinate
200
250
300
Trial 5:
Kalman Filer Data:
Kalman:
X
9
6
7
9
14
19
25
32
41
48
57
68
73
96
117
136
155
174
191
205
220
233
243
258
269
278
287
295
Moving
Average:
Difference:
Y
56
56
56
56
56
55
55
55
55
56
55
55
55
58
61
62
63
62
61
60
60
59
58
57
57
58
58
58
56
56
56
55.8
55.6
55.4
55.2
55.2
55.2
55.2
55.2
55.8
56.8
58.2
59.8
61.2
61.8
61.6
61.2
60.4
59.6
58.8
58.2
57.8
57.6
57.6
58
58
0
0
0
0.2
0.4
-0.4
-0.2
-0.2
-0.2
0.8
-0.2
-0.8
-1.8
-0.2
1.2
0.8
1.2
0.4
-0.2
-0.4
0.4
0.2
-0.2
-0.8
-0.6
0.4
0
0
Difference
(abs):
Statistics:
Mean:
0 0.435714286
0
0 Maximum:
0.2
1.8
0.4
0.4 Sum:
0.2
12.2
0.2
0.2 RMS:
0.8 0.608276253
0.2
0.8
1.8
0.2
1.2
0.8
1.2
0.4
0.2
0.4
0.4
0.2
0.2
0.8
0.6
0.4
0
0

Raw:
X
8
9
9
11
17
22
28
34
44
50
59
71
71
107
123
140
157
176
191
203
219
231
241
259
268
276
286
294
Moving
Average:
Difference
Difference: (abs):
Y
56
56
56
56
56
55
56
55
56
57
55
56
56
61
62
63
62
62
60
60
60
59
58
57
58
59
59
59
56
56
56
55.8
55.8
55.6
55.6
55.8
55.8
55.8
56
57
58
59.6
60.8
62
61.8
61.4
60.8
60.2
59.4
58.8
58.4
58.2
58.2
58.4
59
59
0
0
0
0.2
0.2
-0.6
0.4
-0.8
0.2
1.2
-1
-1
-2
1.4
1.2
1
0.2
0.6
-0.8
-0.2
0.6
0.2
-0.4
-1.2
-0.2
0.6
0
0
Statistics:
Mean:
0 0.578571429
0
0 Maximum:
0.2
2
0.2
0.6 Sum:
0.4
16.2
0.8
0.2 RMS:
1.2 0.76997217
1
1
2
1.4
1.2
1
0.2
0.6
0.8
0.2
0.6
0.2
0.4
1.2
0.2
0.6
0
0
Y-coordinate

64
63
62
61
60
59
58
57
56
55
54
Moving Average
Kalman Filter
50
100
150
200
250
300
X-coordinate
Y-coordinate

64
63
62
61
60
59
58
57
56
55
54
Moving Average
Raw Data
50
100
150
X-coordinate
200
250
300
Line 2:
Trial 1:
Kalman Filer Data:
Kalman:
X
150
147
149
150
150
150
150
149
149
148
148
147
147
147
147
147
147
149
149
149
149
148
148
147
147
148
149
148
149
151
149
148
148
148
148
148
Moving
Average:
Difference:
Y
22
150
18
21
26
29
35
41
48
55
61
67
74
80
90
98
105
114
122
131
138
144
148
152
153
155
157
157
156
156
159
163
165
166
167
167
167
148.6666667
149.2
149.2
149.8
149.8
149.6
149.2
148.8
148.2
147.8
147.4
147.2
147
147
147.4
147.8
148.2
148.6
148.8
148.6
148.2
147.8
147.6
147.8
147.8
148.2
149
149.2
149
149
148.8
148.2
148
148
148
0
1.666666667
-0.2
0.8
0.2
0.2
0.4
-0.2
0.2
-0.2
0.2
-0.4
-0.2
0
0
-0.4
-0.8
0.8
0.4
0.2
0.4
-0.2
0.2
-0.6
-0.8
0.2
0.8
-1
-0.2
2
0
-0.8
-0.2
0
0
0
Difference
(abs):
Statistics:
Mean:
0 0.412962963
1.666666667
0.2
0.8
0.2
0.2
0.4
0.2
0.2
0.2
0.2
0.4
0.2
0
0
0.4
0.8
0.8
0.4
0.2
0.4
0.2
0.2
0.6
0.8
0.2
0.8
1
0.2
2
0
0.8
0.2
0
0
0
Maximum:
2
Sum:
14.86666667
RMS:
0.608682041

Raw:
X
150
148
150
151
150
150
151
149
150
148
148
148
147
148
148
148
148
151
148
149
149
148
148
147
148
150
150
148
150
152
148
148
148
149
149
149
Moving
Average:
Difference
Difference: (abs):
Y
22
150
20
23
28
31
38
43
51
57
61
68
75
80
93
99
105
115
123
132
138
142
147
150
151
154
156
156
154
156
161
165
166
166
166
167
166
149.3333333
149.8
149.8
150.4
150.2
150
149.6
149.2
148.6
148.2
147.8
147.8
147.8
147.8
148.6
148.6
148.8
149
149
148.4
148.2
148
148.2
148.6
148.6
149.2
150
149.6
149.2
149.2
149
148.4
148.6
149
149
0
1.3333333
0.2
1.2
-0.4
-0.2
1
-0.6
0.8
-0.6
-0.2
0.2
-0.8
0.2
0.2
-0.6
-0.6
2.2
-1
0
0.6
-0.2
0
-1.2
-0.6
1.4
0.8
-2
0.4
2.8
-1.2
-1
-0.4
0.4
0
0
Statistics:
Mean:
0 0.703703704
1.333333333
0.2
1.2
0.4
0.2
1
0.6
0.8
0.6
0.2
0.2
0.8
0.2
0.2
0.6
0.6
2.2
1
0
0.6
0.2
0
1.2
0.6
1.4
0.8
2
0.4
2.8
1.2
1
0.4
0.4
0
0
Maximum:
2.8
Sum:
25.33333333
RMS:
0.953615602

180
160
140
Y-coordinate
120
100
Moving Average
80
Kalman Filter
60
40
20
0
146
147
148
149
150
151
152
X-coordinate

180
160
140
Y-coordinate
120
100
Moving Average
80
Raw Data
60
40
20
0
146
147
148
149
150
X-coordinate
151
152
153
Trial 2:
Kalman Filer Data:
Kalman:
X
151
154
153
152
153
152
152
153
153
153
153
154
153
152
152
152
152
153
Moving
Average:
Difference:
Y
13
14
14
15
24
34
49
56
79
99
108
128
144
153
160
166
170
174
151
152.6666667
152.6
152.8
152.4
152.4
152.6
152.6
152.8
153.2
153.2
153
152.8
152.6
152.2
152.2
152.3333333
153
0
1.333333333
0.4
-0.8
0.6
-0.4
-0.6
0.4
0.2
-0.2
-0.2
1
0.2
-0.6
-0.2
-0.2
-0.333333333
0
Difference
(abs):
Statistics:
Mean:
0 0.425925926
1.333333333
0.4 Maximum:
0.8 1.333333333
0.6
0.4 Sum:
0.6 7.666666667
0.4
0.2 RMS:
0.2 0.544104202
0.2
1
0.2
0.6
0.2
0.2
0.333333333
0

Raw:
X
152
153
152
152
153
152
153
153
153
154
154
155
153
152
153
153
153
154
Moving
Average:
Difference:
Difference
(abs):
Y
14
14
15
15
29
39
55
55
90
104
104
133
144
149
156
163
167
171
152
0
152.3333333 0.66666667
152.4
-0.4
152.4
-0.4
152.4
0.6
152.6
-0.6
152.8
0.2
153
0
153.4
-0.4
153.8
0.2
153.8
0.2
153.6
1.4
153.4
-0.4
153.2
-1.2
152.8
0.2
153
0
153.3333333 -0.3333333
154
0
0
0.666666667
0.4
0.4
0.6
0.6
0.2
0
0.4
0.2
0.2
1.4
0.4
1.2
0.2
0
0.333333333
0
Statistics:
Mean:
0.4
Maximum:
1.4
Sum:
7.2
RMS:
0.551541051

200
180
160
Y-coordinate
140
120
100
Moving Average
80
Kalman Filter
60
40
20
0
150
151
152
153
154
155
X-coordinate

180
160
140
Y-coordinate
120
100
Moving Average
80
Raw Data
60
40
20
0
151
152
153
154
X-coordinate
155
156
Trial 3:
Kalman Filter Data:
Kalman:
X
167
168
167
167
166
167
167
167
166
166
166
166
166
165
165
165
165
165
164
164
164
164
164
165
165
165
165
165
164
164
164
164
164
164
164
164
164
Moving
Average:
Difference:
Y
14
14
18
18
20
19
20
22
24
27
29
29
30
32
33
37
42
46
50
51
52
55
56
58
60
61
63
67
69
72
74
77
78
81
83
85
88
167
0
167.3333333 0.666666667
167
0
167
0
166.8
-0.8
166.8
0.2
166.6
0.4
166.6
0.4
166.4
-0.4
166.2
-0.2
166
0
165.8
0.2
165.6
0.4
165.4
-0.4
165.2
-0.2
165
0
164.8
0.2
164.6
0.4
164.4
-0.4
164.2
-0.2
164
0
164.2
-0.2
164.4
-0.4
164.6
0.4
164.8
0.2
165
0
164.8
0.2
164.6
0.4
164.4
-0.4
164.2
-0.2
164
0
164
0
164
0
164
0
164
0
164
0
164
0
Difference
(abs):
Statistics:
Mean:
0 0.232911392
0.666666667
0 Maximum:
0
1
0.8
0.2 Sum:
0.4
18.4
0.4
0.4 RMS:
0.2 0.318929292
0
0.2
0.4
0.4
0.2
0
0.2
0.4
0.4
0.2
0
0.2
0.4
0.4
0.2
0
0.2
0.4
0.4
0.2
0
0
0
0
0
0
0
164
164
164
164
164
164
164
164
164
163
163
163
163
162
161
160
159
158
157
157
157
158
157
158
158
159
159
159
158
158
157
156
157
157
157
157
157
156
156
156
157
157
91
93
95
96
99
101
104
105
105
106
107
109
110
114
118
120
123
126
127
130
134
137
140
145
148
151
152
155
157
159
163
167
169
171
174
176
180
183
187
190
192
192
164
0
164
0
164
0
164
0
164
0
164
0
164
0
163.8
0.2
163.6
0.4
163.4
-0.4
163.2
-0.2
162.8
0.2
162.4
0.6
161.8
0.2
161
0
160
0
159
0
158.2
-0.2
157.6
-0.6
157.4
-0.4
157.2
-0.2
157.4
0.6
157.6
-0.6
158
0
158.2
-0.2
158.6
0.4
158.6
0.4
158.6
0.4
158.2
-0.2
157.6
0.4
157.2
-0.2
157
-1
156.8
0.2
156.8
0.2
157
0
156.8
0.2
156.6
0.4
156.4
-0.4
156.4
-0.4
156.4
-0.4
156.6666667 0.333333333
157
0
0
0
0
0
0
0
0
0.2
0.4
0.4
0.2
0.2
0.6
0.2
0
0
0
0.2
0.6
0.4
0.2
0.6
0.6
0
0.2
0.4
0.4
0.4
0.2
0.4
0.2
1
0.2
0.2
0
0.2
0.4
0.4
0.4
0.4
0.333333333
0

Raw:
X
167
169
168
167
167
169
167
167
167
167
166
166
167
165
166
166
165
165
165
164
165
165
165
166
165
165
165
165
164
165
164
164
165
164
165
164
165
165
Moving
Average:
Difference:
Y
14
15
19
18
21
18
21
23
26
28
29
29
30
33
34
39
44
48
50
50
52
55
56
58
60
61
63
69
70
73
74
77
78
82
83
86
89
91
167
168
167.6
168
167.6
167.4
167.4
167.4
166.8
166.6
166.6
166.2
166
166
165.8
165.4
165.4
165
164.8
164.8
164.8
165
165.2
165.2
165.2
165.2
164.8
164.8
164.6
164.4
164.4
164.4
164.4
164.4
164.6
164.6
164.6
164.4
0
1
0.4
-1
-0.6
1.6
-0.4
-0.4
0.2
0.4
-0.6
-0.2
1
-1
0.2
0.6
-0.4
0
0.2
-0.8
0.2
0
-0.2
0.8
-0.2
-0.2
0.2
0.2
-0.6
0.6
-0.4
-0.4
0.6
-0.4
0.4
-0.6
0.4
0.6
Difference
(abs):
Statistics:
Mean:
0 0.410970464
1
0.4 Maximum:
1
1.6
0.6
1.6 Sum:
0.4 32.46666667
0.4
0.2 RMS:
0.4 0.51808367
0.6
0.2
1
1
0.2
0.6
0.4
0
0.2
0.8
0.2
0
0.2
0.8
0.2
0.2
0.2
0.2
0.6
0.6
0.4
0.4
0.6
0.4
0.4
0.6
0.4
0.6
164
164
164
165
165
164
164
164
164
164
164
163
162
161
160
160
158
158
158
158
159
157
159
159
160
159
159
158
158
157
157
158
158
158
157
157
157
157
157
158
157
94
95
95
100
102
105
104
105
106
108
109
111
117
119
121
124
126
126
132
135
138
141
146
149
150
152
155
157
160
165
168
168
171
175
176
182
184
187
191
196
196
164.4
-0.4
164.4
-0.4
164.4
-0.4
164.4
0.6
164.4
0.6
164.4
-0.4
164.2
-0.2
164
0
164
0
163.8
0.2
163.4
0.6
162.8
0.2
162
0
161.2
-0.2
160.2
-0.2
159.4
0.6
158.8
-0.8
158.4
-0.4
158.2
-0.2
158
0
158.2
0.8
158.4
-1.4
158.8
0.2
158.8
0.2
159.2
0.8
159
0
158.8
0.2
158.2
-0.2
157.8
0.2
157.6
-0.6
157.6
-0.6
157.6
0.4
157.6
0.4
157.6
0.4
157.4
-0.4
157.2
-0.2
157
0
157.2
-0.2
157.2
-0.2
157.3333333 0.66666667
157
0
0.4
0.4
0.4
0.6
0.6
0.4
0.2
0
0
0.2
0.6
0.2
0
0.2
0.2
0.6
0.8
0.4
0.2
0
0.8
1.4
0.2
0.2
0.8
0
0.2
0.2
0.2
0.6
0.6
0.4
0.4
0.4
0.4
0.2
0
0.2
0.2
0.666666667
0

200
180
160
Y-coordinate
140
120
100
Moving Average
80
Kalman Filter
60
40
20
0
155
160
165
170
X-coordinate

200
180
160
Y-coordinate
140
120
100
Moving Average
80
Raw Data
60
40
20
0
155
160
165
X-coordinate
170
Trial 4:
Kalman Filter Data:
Kalman:
X
154
159
157
155
154
152
151
151
152
151
150
150
150
151
152
151
151
151
150
151
151
151
152
152
153
154
155
155
155
155
155
155
155
156
156
155
155
Moving
Average:
Difference:
Y
23
25
24
25
26
30
33
34
42
47
51
56
60
66
68
72
75
77
78
82
87
89
94
96
104
111
116
119
124
128
132
134
136
138
141
144
147
154
0
156.6666667 2.333333333
155.8
1.2
155.4
-0.4
153.8
0.2
152.6
-0.6
152
-1
151.4
-0.4
151
1
150.8
0.2
150.6
-0.6
150.4
-0.4
150.6
-0.6
150.8
0.2
151
1
151.2
-0.2
151
0
150.8
0.2
150.8
-0.8
150.8
0.2
151
0
151.4
-0.4
151.8
0.2
152.4
-0.4
153.2
-0.2
153.8
0.2
154.4
0.6
154.8
0.2
155
0
155
0
155
0
155.2
-0.2
155.4
-0.4
155.4
0.6
155.4
0.6
155.4
-0.4
155.6
-0.6
Difference
(abs):
Statistics:
Mean:
0 0.484615385
2.333333333
1.2 Maximum:
0.4 2.333333333
0.2
0.6 Sum:
1
25.2
0.4
1 RMS:
0.2 0.664226303
0.6
0.4
0.6
0.2
1
0.2
0
0.2
0.8
0.2
0
0.4
0.2
0.4
0.2
0.2
0.6
0.2
0
0
0
0.2
0.4
0.6
0.6
0.4
0.6
155
157
157
157
159
160
160
160
159
160
160
161
161
161
156
150
151
152
153
156
161
164
164
163
163
163
162
161
162
163
155.8
-0.8
156.2
0.8
157
0
158
-1
158.6
0.4
159.2
0.8
159.6
0.4
159.8
0.2
159.8
-0.8
160
0
160.2
-0.2
160.6
0.4
159.8
1.2
159.3333333 1.666666667
156
0
0.8
0.8
0
1
0.4
0.8
0.4
0.2
0.8
0
0.2
0.4
1.2
1.666666667
0

Raw:
X
155
158
156
154
154
152
152
152
153
151
150
151
150
153
153
151
151
151
151
152
152
152
153
153
153
156
155
155
156
154
155
156
156
156
156
155
156
156
Moving
Average:
Difference:
Y
24
25
24
26
26
33
34
34
46
48
51
57
61
67
67
72
75
77
77
84
88
88
96
96
107
113
116
118
125
128
132
133
135
138
141
145
148
150
155
0
156.3333333 1.66666667
155.4
0.6
154.8
-0.8
153.6
0.4
152.8
-0.8
152.6
-0.6
152
0
151.6
1.4
151.4
-0.4
151
-1
151
0
151.4
-1.4
151.6
1.4
151.6
1.4
151.8
-0.8
151.4
-0.4
151.2
-0.2
151.4
-0.4
151.6
0.4
152
0
152.4
-0.4
152.6
0.4
153.4
-0.4
154
-1
154.4
1.6
155
0
155.2
-0.2
155
1
155.2
-1.2
155.4
-0.4
155.4
0.6
155.8
0.2
155.8
0.2
155.8
0.2
155.8
-0.8
156.2
-0.2
156.4
-0.4
Difference
(abs):
Statistics:
Mean:
0 0.687179487
1.666666667
0.6 Maximum:
0.8 2.666666667
0.4
0.8 Sum:
0.6 35.73333333
0
1.4 RMS:
0.4 0.879782413
1
0
1.4
1.4
1.4
0.8
0.4
0.2
0.4
0.4
0
0.4
0.4
0.4
1
1.6
0
0.2
1
1.2
0.4
0.6
0.2
0.2
0.2
0.8
0.2
0.4
158
157
158
160
160
161
159
159
161
161
161
161
161
153
151
151
153
158
163
164
162
162
163
163
162
161
163
164
157
1
157.8
-0.8
158.6
-0.6
159.2
0.8
159.6
0.4
159.8
1.2
160
-1
160.2
-1.2
160.2
0.8
160.6
0.4
161
0
159.4
1.6
158.3333333 2.66666667
153
0
1
0.8
0.6
0.8
0.4
1.2
1
1.2
0.8
0.4
0
1.6
2.666666667
0

180
160
140
Y-coordinate
120
100
Moving Average
80
Kalman Filter
60
40
20
0
145
150
155
160
165
X-coordinate

180
160
140
Y-coordinate
120
100
Moving Average
80
Raw Data
60
40
20
0
145
150
155
X-coordinate
160
165
Trial 5:
Kalman:
X
127
127
128
131
132
132
132
132
131
129
129
128
129
129
129
129
129
129
128
129
130
130
130
130
131
131
131
131
130
129
130
130
129
130
130
130
130
129
Moving
Average:
Difference:
Y
12
127
10
13
18
20
24
28
31
33
35
37
40
43
46
49
51
54
56
56
58
59
59
63
67
70
72
75
76
78
80
83
86
88
91
94
96
99
101
127.3333333
129
130
131
131.8
131.8
131.2
130.6
129.8
129.2
128.8
128.8
128.8
129
129
128.8
128.8
129
129.2
129.4
129.8
130.2
130.4
130.6
130.8
130.8
130.4
130.2
130
129.6
129.6
129.8
129.8
129.8
129.8
129.6
129.6
0
0.333333333
-1
1
1
0.2
0.2
0.8
0.4
-0.8
-0.2
-0.8
0.2
0.2
0
0
0.2
0.2
-1
-0.2
0.6
0.2
-0.2
-0.4
0.4
0.2
0.2
0.6
-0.2
-1
0.4
0.4
-0.8
0.2
0.2
0.2
0.4
-0.6
Difference
(abs):
Statistics:
Mean:
0 0.361006289
0.333333333
1
1
1
0.2
0.2
0.8
0.4
0.8
0.2
0.8
0.2
0.2
0
0
0.2
0.2
1
0.2
0.6
0.2
0.2
0.4
0.4
0.2
0.2
0.6
0.2
1
0.4
0.4
0.8
0.2
0.2
0.2
0.4
0.6
Maximum:
1
Sum:
19.13333333
RMS:
0.473268664
129
130
130
131
130
130
130
130
130
130
131
131
131
131
131
104
108
113
116
120
123
127
128
131
135
137
138
139
141
144
129.6
129.8
130
130.2
130.2
130.2
130
130
130.2
130.4
130.6
130.8
131
131
131
-0.6
0.2
0
0.8
-0.2
-0.2
0
0
-0.2
-0.4
0.4
0.2
0
0
0
0.6
0.2
0
0.8
0.2
0.2
0
0
0.2
0.4
0.4
0.2
0
0
0

Raw:
X
127
128
129
132
132
132
132
132
130
129
129
129
130
130
130
130
129
129
129
130
131
131
130
131
132
131
132
131
130
129
131
131
129
131
130
131
130
129
Moving
Average:
Difference
Difference: (abs):
Y
12
12
15
20
20
26
29
32
33
34
38
41
43
47
50
51
54
56
55
59
59
59
65
69
71
72
75
76
78
80
85
86
89
91
95
96
100
101
127
128
129.6
130.6
131.4
132
131.6
131
130.4
129.8
129.4
129.4
129.6
129.8
129.8
129.6
129.4
129.4
129.6
130
130.2
130.6
131
131
131.2
131.4
131.2
130.6
130.6
130.4
130
130.2
130.4
130.4
130.2
130.2
130
130.2
0
0
-0.6
1.4
0.6
0
0.4
1
-0.4
-0.8
-0.4
-0.4
0.4
0.2
0.2
0.4
-0.4
-0.4
-0.6
0
0.8
0.4
-1
0
0.8
-0.4
0.8
0.4
-0.6
-1.4
1
0.8
-1.4
0.6
-0.2
0.8
0
-1.2
Statistics:
Mean:
0 0.533333333
0
0.6 Maximum:
1.4
1.4
0.6
0 Sum:
0.4 28.26666667
1
0.4 RMS:
0.8 0.647264847
0.4
0.4
0.4
0.2
0.2
0.4
0.4
0.4
0.6
0
0.8
0.4
1
0
0.8
0.4
0.8
0.4
0.6
1.4
1
0.8
1.4
0.6
0.2
0.8
0
1.2
130
131
131
131
130
130
131
131
130
131
132
131
132
105
110
115
115
122
123
127
127
132
136
137
137
139
130.2
130.4
130.6
130.6
130.6
130.6
130.4
130.6
131
131
131.2
131.4
131.6
131
132
142
145
131.6666667
132
-0.2
0.6
0.4
0.4
-0.6
-0.6
0.6
0.4
-1
0
0.8
-0.4
0.4
0.6666667
0
0.2
0.6
0.4
0.4
0.6
0.6
0.6
0.4
1
0
0.8
0.4
0.4
0.666666667
0

160
140
Y-coordinate
120
100
80
Moving Average
Kalman Filter
60
40
20
0
126
127
128
129
130
131
132
133
X-coordinate

160
140
Y-coordinate
120
100
80
Moving Average
Raw Data
60
40
20
0
126
127
128
129
130
X-coordinate
131
132
133
Circle 1:
Trial 1:
Kalman Filter Data:
Kalman:
X
140
134
134
128
124
120
118
112
108
106
102
99
97
96
95
94
94
94
95
96
99
102
103
108
113
117
122
126
131
136
140
144
149
154
159
162
165
168
170
172
174
175
175
175
174
173
171
167
164
160
155
150
145
140
135
130
125
119
Moving
Average X:
Y
47
46
46
45
44
44
45
48
51
53
56
60
65
71
77
82
86
89
95
101
106
111
113
118
122
126
129
130
132
132
132
130
128
125
123
119
113
109
104
98
93
87
79
73
69
62
58
55
53
50
49
48
47
47
46
47
48
49
140
136
132
128
124.8
120.4
116.4
112.8
109.2
105.4
102.4
100
97.8
96.2
95.2
94.6
94.4
94.6
95.6
97.2
99
101.6
105
108.6
112.6
117.2
121.8
126.4
131
135.4
140
144.6
149.2
153.6
157.8
161.6
164.8
167.4
169.8
171.8
173.2
174.2
174.6
174.4
173.6
172
169.8
167
163.4
159.2
154.8
150
145
140
135
129.8
124.4
118.8
Moving
Average Y:
47
46.33333333
45.6
45
44.8
45.2
46.4
48.2
50.6
53.6
57
61
65.8
71
76.2
81
85.8
90.6
95.4
100.4
105.2
109.8
114
118
121.6
125
127.8
129.8
131
131.2
130.8
129.4
127.6
125
121.6
117.8
113.6
108.6
103.4
98.2
92.2
86
80.2
74
68.2
63.4
59.4
55.6
53
51
49.4
48.2
47.4
47
47
47.4
48.2
50
Difference X:
0
-2
2
0
-0.8
-0.4
1.6
-0.8
-1.2
0.6
-0.4
-1
-0.8
-0.2
-0.2
-0.6
-0.4
-0.6
-0.6
-1.2
0
0.4
-2
-0.6
0.4
-0.2
0.2
-0.4
0
0.6
0
-0.6
-0.2
0.4
1.2
0.4
0.2
0.6
0.2
0.2
0.8
0.8
0.4
0.6
0.4
1
1.2
0
0.6
0.8
0.2
0
0
0
0
0.2
0.6
0.2
Difference Y:
0
-0.333333333
0.4
0
-0.8
-1.2
-1.4
-0.2
0.4
-0.6
-1
-1
-0.8
0
0.8
1
0.2
-1.6
-0.4
0.6
0.8
1.2
-1
0
0.4
1
1.2
0.2
1
0.8
1.2
0.6
0.4
0
1.4
1.2
-0.6
0.4
0.6
-0.2
0.8
1
-1.2
-1
0.8
-1.4
-1.4
-0.6
0
-1
-0.4
-0.2
-0.4
0
-1
-0.4
-0.2
-1
Difference X
(abs):
0
2
2
0
0.8
0.4
1.6
0.8
1.2
0.6
0.4
1
0.8
0.2
0.2
0.6
0.4
0.6
0.6
1.2
0
0.4
2
0.6
0.4
0.2
0.2
0.4
0
0.6
0
0.6
0.2
0.4
1.2
0.4
0.2
0.6
0.2
0.2
0.8
0.8
0.4
0.6
0.4
1
1.2
0
0.6
0.8
0.2
0
0
0
0
0.2
0.6
0.2
Difference Y
(abs):
0
0.333333333
0.4
0
0.8
1.2
1.4
0.2
0.4
0.6
1
1
0.8
0
0.8
1
0.2
1.6
0.4
0.6
0.8
1.2
1
0
0.4
1
1.2
0.2
1
0.8
1.2
0.6
0.4
0
1.4
1.2
0.6
0.4
0.6
0.2
0.8
1
1.2
1
0.8
1.4
1.4
0.6
0
1
0.4
0.2
0.4
0
1
0.4
0.2
1
Statistics:
Mean:
0.639906103
Maximum:
2.4
Sum:
90.86666667
RMS:
0.82060705
Mean X:
0.562441315
Mean Y:
0.717370892
Maximum X:
2
Maximum Y:
2.4
Sum X:
39.93333333
Sum Y:
50.93333333
RMS X:
0.762049785
RMS Y:
0.875255384
113
107
103
101
98
95
92
92
92
91
90
89
89
51
55
58
59
64
71
78
85
90
95
98
101
104
113.4
108.6
104.4
100.8
97.8
95.6
93.8
92.4
91.4
90.8
90.2
89.33333333
89
52.2
54.4
57.4
61.4
66
71.4
77.6
83.8
89.2
93.8
97.6
101
104
-0.4
-1.6
-1.4
0.2
0.2
-0.6
-1.8
-0.4
0.6
0.2
-0.2
-0.333333333
0
-1.2
0.6
0.6
-2.4
-2
-0.4
0.4
1.2
0.8
1.2
0.4
0
0
0.4
1.6
1.4
0.2
0.2
0.6
1.8
0.4
0.6
0.2
0.2
0.333333333
0
1.2
0.6
0.6
2.4
2
0.4
0.4
1.2
0.8
1.2
0.4
0
0

Raw:
X
140
135
135
128
124
120
120
111
108
108
102
100
98
98
97
95
96
95
97
97
102
103
103
111
116
117
124
127
132
137
140
145
150
155
159
162
165
167
169
173
173
174
174
174
174
172
170
166
163
Moving Average
X:
Moving Average
Y:
47
140
47
47
47
45
44
46
46
51
53
53
58
62
66
73
79
82
86
89
97
102
107
111
111
119
123
126
128
129
131
131
131
129
126
125
122
118
111
109
103
97
94
87
78
74
70
62
59
57
55
136.6666667
132.4
128.4
125.4
120.6
116.6
113.4
109.8
105.8
103.2
101.2
99
97.6
96.8
96.2
96
96
97.4
98.8
100.4
103.2
107
110
114.2
119
123.2
127.4
132
136.2
140.8
145.4
149.8
154.2
158.2
161.6
164.4
167.2
169.4
171.2
172.6
173.6
173.8
173.6
172.8
171.2
169
166
162.4
47
46
45.8
45.6
46.4
48
49.8
52.2
55.4
58.4
62.4
67.6
72.4
77.2
81.8
86.6
91.2
96.2
101.2
105.6
110
114.2
118
121.4
125
127.4
129
130
130.2
129.6
128.4
126.6
124
120.4
117
112.6
107.6
102.8
98
91.8
86
80.6
74.2
68.6
64.4
60.6
57
54.8
Difference X
(abs):
Difference Y
(abs):
Difference X:
Difference Y:
0
1.666666667
2.6
-0.4
-1.4
-0.6
3.4
-2.4
-1.8
2.2
-1.2
-1.2
-1
0.4
0.2
-1.2
0
-1
-0.4
-1.8
1.6
-0.2
-4
1
1.8
-2
0.8
-0.4
0
0.8
-0.8
-0.4
0.2
0.8
0.8
0.4
0.6
-0.2
-0.4
1.8
0.4
0.4
0.2
0.4
1.2
0.8
1
0
0.6
0
1
-0.8
-1.6
-0.4
-2
1.2
0.8
-2.4
-0.4
-0.4
-1.6
0.6
1.8
0.2
-0.6
-2.2
0.8
0.8
1.4
1
-3.2
1
1.6
1
0.6
0
1
0.8
1.4
0.6
-0.6
1
1.6
1
-1.6
1.4
0.2
-1
2.2
1
-2.6
-0.2
1.4
-2.4
-1.6
0
0.2
1.666666667
2.6
0.4
1.4
0.6
3.4
2.4
1.8
2.2
1.2
1.2
1
0.4
0.2
1.2
0
1
0.4
1.8
1.6
0.2
4
1
1.8
2
0.8
0.4
0
0.8
0.8
0.4
0.2
0.8
0.8
0.4
0.6
0.2
0.4
1.8
0.4
0.4
0.2
0.4
1.2
0.8
1
0
0.6
0
1
0.8
1.6
0.4
2
1.2
0.8
2.4
0.4
0.4
1.6
0.6
1.8
0.2
0.6
2.2
0.8
0.8
1.4
1
3.2
1
1.6
1
0.6
0
1
0.8
1.4
0.6
0.6
1
1.6
1
1.6
1.4
0.2
1
2.2
1
2.6
0.2
1.4
2.4
1.6
0
0.2
Statistics:
Mean:
0.983568075
Maximum:
4.4
Sum:
139.6666667
RMS:
1.281760819
Mean X:
0.954929577
Mean Y:
1.012206573
Maximum X:
4
Maximum Y:
4.4
Sum X:
67.8
Sum Y:
71.86666667
RMS X:
1.274500117
RMS Y:
1.288980624
159
154
149
146
140
135
130
126
119
113
107
104
104
100
95
94
95
93
92
90
52
51
49
49
49
47
48
49
51
53
57
59
59
67
75
80
86
90
95
97
158.2
154.2
149.6
144.8
140
135.4
130
124.6
119
113.8
109.4
105.6
102
99.4
97.6
95.4
93.8
92.8
92
91.2
52.8
51.2
50
49
48.4
48.4
48.8
49.6
51.6
53.8
55.8
59
63.4
68
73.4
79.6
85.2
89.6
93.8
97.2
90
91
101
103
90.33333333
91
100.3333333
103
0.8
-0.2
-0.6
1.2
0
-0.4
0
1.4
0
-0.8
-2.4
-1.6
2
0.6
-2.6
-1.4
1.2
0.2
0
-1.2
0.333333333
0
-0.8
-0.2
-1
0
0.6
-1.4
-0.8
-0.6
-0.6
-0.8
1.2
0
-4.4
-1
1.6
0.4
0.8
0.4
1.2
-0.2
0.8
0.2
0.6
1.2
0
0.4
0
1.4
0
0.8
2.4
1.6
2
0.6
2.6
1.4
1.2
0.2
0
1.2
0.8
0.2
1
0
0.6
1.4
0.8
0.6
0.6
0.8
1.2
0
4.4
1
1.6
0.4
0.8
0.4
1.2
0.2
0.666666667
0
0.333333333
0
0.666666667
0
Circle 1 Trial 1 Kalman Filter

140
130
120
Y-coordinate
110
100
90
Moving Average
80
Kalman Filter
70
60
50
40
80
100
120
140
160
180
X-coordinate
Circle 1 Trial 1 Raw Measurement

140
130
120
Y-coordinate
110
100
90
Moving Average
80
Raw Data
70
60
50
40
80
100
120
140
X-coordinate
160
180
Trial 2:
Kalman Filter Data:
Kalman:
X
108
112
112
114
116
117
118
119
121
124
127
130
132
135
137
139
141
145
147
149
151
154
155
157
160
162
163
165
165
167
169
170
170
170
172
172
172
171
169
167
165
164
163
162
160
159
157
154
150
148
146
144
140
136
133
130
128
124
Y
129
130
130
134
137
138
139
138
139
139
139
139
140
141
141
140
139
139
138
137
135
133
131
129
126
124
121
118
115
111
108
105
100
97
93
89
85
80
75
72
69
68
67
64
61
60
56
52
47
46
45
44
43
42
42
41
41
40
Moving
Average X:
Moving
Average Y:
Difference
X:
Difference
Y:
Difference X
(abs):
Difference Y
(abs):
108
110.6666667
112.4
114.2
115.4
116.8
118.2
119.8
121.8
124.2
126.8
129.6
132.2
134.6
136.8
139.4
141.8
144.2
146.6
149.2
151.2
153.2
155.4
157.6
159.4
161.4
163
164.4
165.8
167.2
168.2
169.2
170.2
170.8
171.2
171.4
171.2
170.2
168.8
167.2
165.6
164.2
162.8
161.6
160.2
158.4
156
153.6
151
148.4
145.6
142.8
139.8
136.6
133.4
130.2
127.2
124.6
129
129.6666667
132
133.8
135.6
137.2
138.2
138.6
138.8
138.8
139.2
139.6
140
140.2
140.2
140
139.4
138.6
137.6
136.4
134.8
133
130.8
128.6
126.2
123.6
120.8
117.8
114.6
111.4
107.8
104.2
100.6
96.8
92.8
88.8
84.4
80.2
76.2
72.8
70.2
68
65.8
64
61.6
58.6
55.2
52.2
49.2
46.8
45
44
43.2
42.4
41.8
41.2
41
41
0
1.333333333
-0.4
-0.2
0.6
0.2
-0.2
-0.8
-0.8
-0.2
0.2
0.4
-0.2
0.4
0.2
-0.4
-0.8
0.8
0.4
-0.2
-0.2
0.8
-0.4
-0.6
0.6
0.6
0
0.6
-0.8
-0.2
0.8
0.8
-0.2
-0.8
0.8
0.6
0.8
0.8
0.2
-0.2
-0.6
-0.2
0.2
0.4
-0.2
0.6
1
0.4
-1
-0.4
0.4
1.2
0.2
-0.6
-0.4
-0.2
0.8
-0.6
0
0.333333333
-2
0.2
1.4
0.8
0.8
-0.6
0.2
0.2
-0.2
-0.6
0
0.8
0.8
0
-0.4
0.4
0.4
0.6
0.2
0
0.2
0.4
-0.2
0.4
0.2
0.2
0.4
-0.4
0.2
0.8
-0.6
0.2
0.2
0.2
0.6
-0.2
-1.2
-0.8
-1.2
0
1.2
0
-0.6
1.4
0.8
-0.2
-2.2
-0.8
0
0
-0.2
-0.4
0.2
-0.2
0
-1
0
1.333333333
0.4
0.2
0.6
0.2
0.2
0.8
0.8
0.2
0.2
0.4
0.2
0.4
0.2
0.4
0.8
0.8
0.4
0.2
0.2
0.8
0.4
0.6
0.6
0.6
0
0.6
0.8
0.2
0.8
0.8
0.2
0.8
0.8
0.6
0.8
0.8
0.2
0.2
0.6
0.2
0.2
0.4
0.2
0.6
1
0.4
1
0.4
0.4
1.2
0.2
0.6
0.4
0.2
0.8
0.6
0
0.333333333
2
0.2
1.4
0.8
0.8
0.6
0.2
0.2
0.2
0.6
0
0.8
0.8
0
0.4
0.4
0.4
0.6
0.2
0
0.2
0.4
0.2
0.4
0.2
0.2
0.4
0.4
0.2
0.8
0.6
0.2
0.2
0.2
0.6
0.2
1.2
0.8
1.2
0
1.2
0
0.6
1.4
0.8
0.2
2.2
0.8
0
0
0.2
0.4
0.2
0.2
0
1
Statistics:
Mean:
0.537106918
Maximum:
2.2
Sum:
113.8666667
RMS:
0.680886092
Mean X:
0.518867925
Mean Y:
0.555345912
Maximum X:
2
Maximum Y:
2.2
Sum X:
55
Sum Y:
58.86666667
RMS X:
0.626025364
RMS Y:
0.731644711
121
120
115
110
105
101
97
95
92
91
89
89
87
88
89
89
89
89
90
90
91
93
94
95
97
98
98
99
100
100
102
104
105
108
111
113
116
121
125
127
130
135
137
140
142
145
148
149
41
42
42
44
45
49
52
56
60
63
66
68
70
75
81
84
86
86
89
92
97
102
106
109
111
112
115
119
122
124
126
127
128
129
130
133
135
136
137
137
137
137
136
135
135
134
133
131
121.6
118
114.2
110.2
105.6
101.6
98
95.2
92.8
91.2
89.6
88.8
88.4
88.4
88.4
88.8
89.2
89.4
89.8
90.6
91.6
92.6
94
95.4
96.4
97.4
98.4
99
99.8
101
102.2
103.8
106
108.2
110.6
113.8
117.2
120.4
123.8
127.6
130.8
133.8
136.8
139.8
142.4
144.8
147.3333333
149
41.2
41.8
42.8
44.4
46.4
49.2
52.4
56
59.4
62.6
65.4
68.4
72
75.6
79.2
82.4
85.2
87.4
90
93.2
97.2
101.2
105
108
110.6
113.2
115.8
118.4
121.2
123.6
125.4
126.8
128
129.4
131
132.6
134.2
135.6
136.4
136.8
136.8
136.4
136
135.4
134.6
133.6
132.6666667
131
-0.6
2
0.8
-0.2
-0.6
-0.6
-1
-0.2
-0.8
-0.2
-0.6
0.2
-1.4
-0.4
0.6
0.2
-0.2
-0.4
0.2
-0.6
-0.6
0.4
0
-0.4
0.6
0.6
-0.4
0
0.2
-1
-0.2
0.2
-1
-0.2
0.4
-0.8
-1.2
0.6
1.2
-0.6
-0.8
1.2
0.2
0.2
-0.4
0.2
0.666666667
0
-0.2
0.2
-0.8
-0.4
-1.4
-0.2
-0.4
0
0.6
0.4
0.6
-0.4
-2
-0.6
1.8
1.6
0.8
-1.4
-1
-1.2
-0.2
0.8
1
1
0.4
-1.2
-0.8
0.6
0.8
0.4
0.6
0.2
0
-0.4
-1
0.4
0.8
0.4
0.6
0.2
0.2
0.6
0
-0.4
0.4
0.4
0.333333333
0
0.6
2
0.8
0.2
0.6
0.6
1
0.2
0.8
0.2
0.6
0.2
1.4
0.4
0.6
0.2
0.2
0.4
0.2
0.6
0.6
0.4
0
0.4
0.6
0.6
0.4
0
0.2
1
0.2
0.2
1
0.2
0.4
0.8
1.2
0.6
1.2
0.6
0.8
1.2
0.2
0.2
0.4
0.2
0.666666667
0
0.2
0.2
0.8
0.4
1.4
0.2
0.4
0
0.6
0.4
0.6
0.4
2
0.6
1.8
1.6
0.8
1.4
1
1.2
0.2
0.8
1
1
0.4
1.2
0.8
0.6
0.8
0.4
0.6
0.2
0
0.4
1
0.4
0.8
0.4
0.6
0.2
0.2
0.6
0
0.4
0.4
0.4
0.333333333
0

Moving
Average X:
Moving
Average Y:
Difference
X:
Difference
Y:
Raw:
X
109
Y
130
109
130
112
112
115
116
117
118
119
122
125
128
131
132
136
137
139
142
146
147
149
151
155
155
158
161
162
163
165
165
168
169
170
170
170
173
172
172
170
168
167
165
164
164
163
160
160
156
154
149
149
147
144
140
136
133
130
129
124
122
122
130
131
135
138
138
139
137
139
139
139
140
141
142
141
140
139
140
138
137
134
133
131
129
126
124
121
119
114
111
109
105
99
98
93
90
85
80
75
74
70
70
69
64
61
61
55
51
47
49
46
45
45
43
43
41
42
41
43
43
111
112.8
114.4
115.6
117
118.4
120.2
122.4
125
127.6
130.4
132.8
135
137.2
140
142.2
144.6
147
149.6
151.4
153.6
156
158.2
159.8
161.8
163.2
164.6
166
167.4
168.4
169.4
170.4
171
171.4
171.4
171
169.8
168.4
166.8
165.6
164.6
163.2
162.2
160.6
158.6
155.8
153.6
151
148.6
145.8
143.2
140
136.6
133.6
130.4
127.6
125.4
122
118.2
130.3333333
132.8
134.4
136.2
137.4
138.2
138.4
138.6
138.8
139.6
140.2
140.6
140.8
140.6
140.4
139.6
138.8
137.6
136.4
134.6
132.8
130.6
128.6
126.2
123.8
120.8
117.8
114.8
111.6
107.6
104.4
100.8
97
93
89.2
84.6
80.8
76.8
73.8
71.6
69.4
66.8
65
62
58.4
55
52.6
49.6
47.6
46.4
45.6
44.4
43.4
42.8
42
42
42
42.4
43
1
-0.8
0.6
0.4
0
-0.4
-1.2
-0.4
0
0.4
0.6
-0.8
1
-0.2
-1
-0.2
1.4
0
-0.6
-0.4
1.4
-1
-0.2
1.2
0.2
-0.2
0.4
-1
0.6
0.6
0.6
-0.4
-1
1.6
0.6
1
0.2
-0.4
0.2
-0.6
-0.6
0.8
0.8
-0.6
1.4
0.2
0.4
-2
0.4
1.2
0.8
0
-0.6
-0.6
-0.4
1.4
-1.4
0
3.8
0
0.333333333
-1.8
0.6
1.8
0.6
0.8
-1.4
0.4
0.2
-0.6
-0.2
0.4
1.2
0.4
-0.4
-0.6
1.2
0.4
0.6
-0.6
0.2
0.4
0.4
-0.2
0.2
0.2
1.2
-0.8
-0.6
1.4
0.6
-1.8
1
0
0.8
0.4
-0.8
-1.8
0.2
-1.6
0.6
2.2
-1
-1
2.6
0
-1.6
-2.6
1.4
-0.4
-0.6
0.6
-0.4
0.2
-1
0
-1
0.6
0
Difference X
(abs):
Difference Y
(abs):
1
0.8
0.6
0.4
0
0.4
1.2
0.4
0
0.4
0.6
0.8
1
0.2
1
0.2
1.4
0
0.6
0.4
1.4
1
0.2
1.2
0.2
0.2
0.4
1
0.6
0.6
0.6
0.4
1
1.6
0.6
1
0.2
0.4
0.2
0.6
0.6
0.8
0.8
0.6
1.4
0.2
0.4
2
0.4
1.2
0.8
0
0.6
0.6
0.4
1.4
1.4
0
3.8
0.333333333
1.8
0.6
1.8
0.6
0.8
1.4
0.4
0.2
0.6
0.2
0.4
1.2
0.4
0.4
0.6
1.2
0.4
0.6
0.6
0.2
0.4
0.4
0.2
0.2
0.2
1.2
0.8
0.6
1.4
0.6
1.8
1
0
0.8
0.4
0.8
1.8
0.2
1.6
0.6
2.2
1
1
2.6
0
1.6
2.6
1.4
0.4
0.6
0.6
0.4
0.2
1
0
1
0.6
0
Statistics:
Mean:
0.745283019
Maximum:
3.8
Sum:
158
RMS:
0.98855081
Mean X:
0.693710692
Mean Y:
0.796855346
Maximum X:
3.8
Maximum Y:
3
Sum X:
73.53333333
Sum Y:
84.46666667
RMS X:
0.930160826
RMS Y:
1.043679188
113
110
105
102
98
97
92
93
91
90
88
90
90
90
90
90
90
90
92
94
95
96
97
98
98
100
100
100
103
105
106
110
112
114
117
123
126
126
131
136
137
140
142
146
148
149
43
45
46
51
54
57
61
63
66
68
70
78
83
84
85
85
89
93
100
103
107
108
111
111
116
120
123
123
126
127
127
129
131
134
135
137
137
137
137
137
136
135
135
134
133
131
114.4
110.4
105.6
102.4
98.8
96.4
94.2
92.6
90.8
90.4
89.8
89.6
89.6
90
90
90
90.4
91.2
92.2
93.4
94.8
96
96.8
97.8
98.6
99.2
100.2
101.6
102.8
104.8
107.2
109.4
111.8
115.2
118.4
121.2
124.6
128.4
131.2
134
137.2
140.2
142.6
145
147.6666667
149
44
45.6
47.8
50.6
53.8
57.2
60.2
63
65.6
69
73
76.6
80
83
85.2
87.2
90.4
94
98.4
102.2
105.8
108
110.6
113.2
116.2
118.6
121.6
123.8
125.2
126.4
128
129.6
131.2
133.2
134.8
136
136.6
137
136.8
136.4
136
135.4
134.6
133.6
132.6666667
131
-1.4
-0.4
-0.6
-0.4
-0.8
0.6
-2.2
0.4
0.2
-0.4
-1.8
0.4
0.4
0
0
0
-0.4
-1.2
-0.2
0.6
0.2
0
0.2
0.2
-0.6
0.8
-0.2
-1.6
0.2
0.2
-1.2
0.6
0.2
-1.2
-1.4
1.8
1.4
-2.4
-0.2
2
-0.2
-0.2
-0.6
1
0.333333333
0
-1
-0.6
-1.8
0.4
0.2
-0.2
0.8
0
0.4
-1
-3
1.4
3
1
-0.2
-2.2
-1.4
-1
1.6
0.8
1.2
0
0.4
-2.2
-0.2
1.4
1.4
-0.8
0.8
0.6
-1
-0.6
-0.2
0.8
0.2
1
0.4
0
0.2
0.6
0
-0.4
0.4
0.4
0.333333333
0
1.4
0.4
0.6
0.4
0.8
0.6
2.2
0.4
0.2
0.4
1.8
0.4
0.4
0
0
0
0.4
1.2
0.2
0.6
0.2
0
0.2
0.2
0.6
0.8
0.2
1.6
0.2
0.2
1.2
0.6
0.2
1.2
1.4
1.8
1.4
2.4
0.2
2
0.2
0.2
0.6
1
0.333333333
0
1
0.6
1.8
0.4
0.2
0.2
0.8
0
0.4
1
3
1.4
3
1
0.2
2.2
1.4
1
1.6
0.8
1.2
0
0.4
2.2
0.2
1.4
1.4
0.8
0.8
0.6
1
0.6
0.2
0.8
0.2
1
0.4
0
0.2
0.6
0
0.4
0.4
0.4
0.333333333
0

160
140
Y-coordinate
120
100
Moving Average
Kalman Filter
80
60
40
80
100
120
140
160
180
X-coordinate

160
140
Y-coordinate
120
100
Moving Average
Raw Data
80
60
40
80
100
120
140
X-coordinate
160
180
Trial 3:
Moving
Average X:
Kalman:
Moving
Average Y:
Difference
X:
Difference
Y:
Difference X
(abs):
Difference Y
(abs):
Statistics:
X
148
154
Y
123
123
148
153
123
122.6666667
0
1
0
0.333333333
0
1
0
0.333333333
Mean:
0.865128205
157
160
122
121
156.2
159.6
122
121.4
0.8
0.4
0
-0.4
0.8
0.4
0
0.4
Maximum:
3.6
162
165
169
121
120
118
162.6
165.6
168.2
120.4
118.4
115
-0.6
-0.6
0.8
0.6
1.6
3
0.6
0.6
0.8
0.6
1.6
3
Sum:
112.4666667
172
173
112
104
170.8
172.6
109.8
102.6
1.2
0.4
2.2
1.4
1.2
0.4
2.2
1.4
RMS:
175
174
95
84
173.4
173.2
94.4
86.2
1.6
0.8
0.6
-2.2
1.6
0.8
0.6
2.2
1.061574383
173
171
168
77
71
64
172.2
170
167
78.2
71
64.8
0.8
1
1
-1.2
0
-0.8
0.8
1
1
1.2
0
0.8
Mean X:
0.780512821
164
159
59
53
163.2
158.8
59
53.8
0.8
0.2
0
-0.8
0.8
0.2
0
0.8
Mean Y:
0.94974359
154
149
147
48
45
45
154.6
149.4
143.4
50
46.6
44.4
-0.6
-0.4
3.6
-2
-1.6
0.6
0.6
0.4
3.6
2
1.6
0.6
Maximum X:
3.6
138
129
42
42
137
130
43.6
44
1
-1
-1.6
-2
1
1
1.6
2
Maximum Y:
122
114
44
47
122.2
115
45
47.4
-0.2
-1
-1
-0.4
0.2
1
1
0.4
108
102
99
50
54
60
109
104
100.6
51
55
58.8
-1
-2
-1.6
-1
-1
1.2
1
2
1.6
1
1
1.2
Sum X:
50.73333333
97
97
64
66
98
96.4
63
67.4
-1
0.6
1
-1.4
1
0.6
1
1.4
Sum Y:
61.73333333
95
94
94
71
76
81
95.4
94.6
93.8
71.6
76
81.4
-0.4
-0.6
0.2
-0.6
0
-0.4
0.4
0.6
0.2
0.6
0
0.4
RMS X:
0.946175387
93
93
86
93
93.4
93.4
87.2
93.2
-0.4
-0.4
-1.2
-0.2
0.4
0.4
1.2
0.2
RMS Y:
93
94
100
106
94
95.4
99.2
105.4
-1
-1.4
0.8
0.6
1
1.4
0.8
0.6
97
100
104
111
117
122
97.6
100.4
103.4
111.2
116.4
120.8
-0.6
-0.4
0.6
-0.2
0.6
1.2
0.6
0.4
0.6
0.2
0.6
1.2
107
109
126
128
106.6
110.2
124.6
127.6
0.4
-1.2
1.4
0.4
0.4
1.2
1.4
0.4
113
118
123
130
132
134
114
118.4
123.2
130
131.8
133.2
-1
-0.4
-0.2
0
0.2
0.8
1
0.4
0.2
0
0.2
0.8
129
133
135
135
128.4
133.8
134
134
0.6
-0.8
1
1
0.6
0.8
1
1
139
145
134
132
139.2
144.6
133.2
131.2
-0.2
0.4
0.8
0.8
0.2
0.4
0.8
0.8
150
156
130
125
150.2
155.2
128
124.2
-0.2
0.8
2
0.8
0.2
0.8
2
0.8
1.165603912
161
164
119
115
159.6
163.4
119.4
113.8
1.4
0.6
-0.4
1.2
1.4
0.6
0.4
1.2
167
169
108
102
166.2
168.2
108.4
102.8
0.8
0.8
-0.4
-0.8
0.8
0.8
0.4
0.8
170
171
98
91
169.6
170.2
96.2
89.4
0.4
0.8
1.8
1.6
0.4
0.8
1.8
1.6
171
170
168
82
74
68
170
168.8
166.6
82.6
74.6
66.8
1
1.2
1.4
-0.6
-0.6
1.2
1
1.2
1.4
0.6
0.6
1.2
164
160
58
52
163.2
159
59.6
53.2
0.8
1
-1.6
-1.2
0.8
1
1.6
1.2
154
149
145
46
42
41
154.4
150
145.6
47.8
44.4
42.2
-0.4
-1
-0.6
-1.8
-2.4
-1.2
0.4
1
0.6
1.8
2.4
1.2
142
138
41
41
141.6666667
138
41
41
0.333333333
0
0
0
0.333333333
0
0
0
Raw:
X
149
154
157
160
162
166
169
172
173
175
172
172
170
167
163
158
153
149
149
134
128
121
114
110
102
102
100
100
97
95
96
93
94
94
96
100
102
106
107
109
115
119
125
130
134
140
146
150
157
161
163
166
168
169
170
170
169
167
162
Moving
Average X:
Y
124
123
122
122
121
121
117
109
100
93
80
78
73
65
60
54
50
48
48
43
44
48
50
53
55
63
65
65
73
77
83
87
95
101
106
111
117
122
125
126
129
132
133
134
134
133
131
129
122
118
114
107
101
99
90
80
74
69
57
149
153.3333333
156.4
159.8
162.8
165.8
168.4
171
172.2
172.8
172.4
171.2
168.8
166
162.2
158
154.4
148.6
142.6
136.2
129.2
121.4
115
109.8
105.6
102.8
100.2
98.8
97.6
96.2
95
94.4
94.6
95.4
97.2
99.6
102.2
104.8
107.8
111.2
115
119.6
124.6
129.6
135
140
145.4
150.8
155.4
159.4
163
165.4
167.2
168.6
169.2
169
167.6
165.2
161.6
Moving
Average
Y:
124
123
122.4
121.8
120.6
118
113.6
108
99.8
92
84.8
77.8
71.2
66
60.4
55.4
52
48.6
46.6
46.2
46.6
47.6
50
53.8
57.2
60.2
64.2
68.6
72.6
77
83
88.6
94.4
100
106
111.4
116.2
120.2
123.8
126.8
129
130.8
132.4
133.2
133
132.2
129.8
126.6
122.8
118
112.4
107.8
102.2
95.4
88.8
82.4
74
66.8
60.2
Difference X:
0
0.666666667
0.6
0.2
-0.8
0.2
0.6
1
0.8
2.2
-0.4
0.8
1.2
1
0.8
0
-1.4
0.4
6.4
-2.2
-1.2
-0.4
-1
0.2
-3.6
-0.8
-0.2
1.2
-0.6
-1.2
1
-1.4
-0.6
-1.4
-1.2
0.4
-0.2
1.2
-0.8
-2.2
0
-0.6
0.4
0.4
-1
0
0.6
-0.8
1.6
1.6
0
0.6
0.8
0.4
0.8
1
1.4
1.8
0.4
Difference
Y:
0
0
-0.4
0.2
0.4
3
3.4
1
0.2
1
-4.8
0.2
1.8
-1
-0.4
-1.4
-2
-0.6
1.4
-3.2
-2.6
0.4
0
-0.8
-2.2
2.8
0.8
-3.6
0.4
0
0
-1.6
0.6
1
0
-0.4
0.8
1.8
1.2
-0.8
0
1.2
0.6
0.8
1
0.8
1.2
2.4
-0.8
0
1.6
-0.8
-1.2
3.6
1.2
-2.4
0
2.2
-3.2
Difference X
(abs):
0
0.666666667
0.6
0.2
0.8
0.2
0.6
1
0.8
2.2
0.4
0.8
1.2
1
0.8
0
1.4
0.4
6.4
2.2
1.2
0.4
1
0.2
3.6
0.8
0.2
1.2
0.6
1.2
1
1.4
0.6
1.4
1.2
0.4
0.2
1.2
0.8
2.2
0
0.6
0.4
0.4
1
0
0.6
0.8
1.6
1.6
0
0.6
0.8
0.4
0.8
1
1.4
1.8
0.4
Difference
Y (abs):
0
0
0.4
0.2
0.4
3
3.4
1
0.2
1
4.8
0.2
1.8
1
0.4
1.4
2
0.6
1.4
3.2
2.6
0.4
0
0.8
2.2
2.8
0.8
3.6
0.4
0
0
1.6
0.6
1
0
0.4
0.8
1.8
1.2
0.8
0
1.2
0.6
0.8
1
0.8
1.2
2.4
0.8
0
1.6
0.8
1.2
3.6
1.2
2.4
0
2.2
3.2
Statistics:
Mean:
1.061538462
Maximum:
6.4
Sum:
138
RMS:
1.488095209
Mean X:
0.916923077
Mean Y:
1.206153846
Maximum X:
6.4
Maximum Y:
4.8
Sum X:
59.6
Sum Y:
78.4
RMS X:
1.313337238
RMS Y:
1.644384383
158
152
149
146
143
139
54
47
45
45
44
43
157.6
153.4
149.6
145.8
142.6666667
139
54.4
49.6
47
44.8
44
43
0.4
-1.4
-0.6
0.2
0.333333333
0
-0.4
-2.6
-2
0.2
0
0
0.4
1.4
0.6
0.2
0.333333333
0
0.4
2.6
2
0.2
0
0

140
130
120
Y-coordinate
110
100
90
Moving Average
80
Kalman Filter
70
60
50
40
80
100
120
140
160
180
X-coordinate

140
130
120
Y-coordinate
110
100
90
Moving Average
80
Raw Data
70
60
50
40
80
100
120
140
X-coordinate
160
180
Trial 4:
Kalman Filter Data:
Kalman:
X
100
99
98
97
96
95
94
94
94
93
93
95
96
98
100
103
104
106
108
113
117
122
127
131
134
139
144
151
158
163
167
170
172
174
175
177
178
178
178
176
173
171
167
162
158
153
146
139
133
128
124
119
115
109
104
100
99
97
Moving
Average X:
Moving
Average Y:
Difference
X:
Difference Y:
Difference X
(abs):
Difference Y
(abs):
Y
62
63
71
76
77
81
84
86
86
91
94
99
102
106
111
116
120
124
126
129
133
136
138
139
139
139
139
137
135
132
129
126
121
117
111
105
99
92
87
78
71
63
55
47
42
38
35
35
34
35
38
40
44
48
53
59
67
76
100
99
98
97
96
95.2
94.6
94
93.6
93.8
94.2
95
96.4
98.4
100.2
102.2
104.2
106.8
109.6
113.2
117.4
122
126.2
130.6
135
139.8
145.2
151
156.6
161.8
166
169.2
171.6
173.6
175.2
176.4
177.2
177.4
176.6
175.2
173
169.8
166.2
162.2
157.2
151.6
145.8
139.8
134
128.6
123.8
119
114.2
109.4
105.4
101.8
99
97.2
62
65.33333333
69.8
73.6
77.8
80.8
82.8
85.6
88.2
91.2
94.4
98.4
102.4
106.8
111
115.4
119.4
123
126.4
129.6
132.4
135
137
138.2
138.8
138.6
137.8
136.4
134.4
131.8
128.6
125
120.8
116
110.6
104.8
98.8
92.2
85.4
78.2
70.8
62.8
55.6
49
43.4
39.4
36.8
35.4
35.4
36.4
38.2
41
44.6
48.8
54.2
60.6
67.8
75.2
0
0
0
0
0
-0.2
-0.6
0
0.4
-0.8
-1.2
0
-0.4
-0.4
-0.2
0.8
-0.2
-0.8
-1.6
-0.2
-0.4
0
0.8
0.4
-1
-0.8
-1.2
0
1.4
1.2
1
0.8
0.4
0.4
-0.2
0.6
0.8
0.6
1.4
0.8
0
1.2
0.8
-0.2
0.8
1.4
0.2
-0.8
-1
-0.6
0.2
0
0.8
-0.4
-1.4
-1.8
0
-0.2
0
-2.333333333
1.2
2.4
-0.8
0.2
1.2
0.4
-2.2
-0.2
-0.4
0.6
-0.4
-0.8
0
0.6
0.6
1
-0.4
-0.6
0.6
1
1
0.8
0.2
0.4
1.2
0.6
0.6
0.2
0.4
1
0.2
1
0.4
0.2
0.2
-0.2
1.6
-0.2
0.2
0.2
-0.6
-2
-1.4
-1.4
-1.8
-0.4
-1.4
-1.4
-0.2
-1
-0.6
-0.8
-1.2
-1.6
-0.8
0.8
0
0
0
0
0
0.2
0.6
0
0.4
0.8
1.2
0
0.4
0.4
0.2
0.8
0.2
0.8
1.6
0.2
0.4
0
0.8
0.4
1
0.8
1.2
0
1.4
1.2
1
0.8
0.4
0.4
0.2
0.6
0.8
0.6
1.4
0.8
0
1.2
0.8
0.2
0.8
1.4
0.2
0.8
1
0.6
0.2
0
0.8
0.4
1.4
1.8
0
0.2
0
2.333333333
1.2
2.4
0.8
0.2
1.2
0.4
2.2
0.2
0.4
0.6
0.4
0.8
0
0.6
0.6
1
0.4
0.6
0.6
1
1
0.8
0.2
0.4
1.2
0.6
0.6
0.2
0.4
1
0.2
1
0.4
0.2
0.2
0.2
1.6
0.2
0.2
0.2
0.6
2
1.4
1.4
1.8
0.4
1.4
1.4
0.2
1
0.6
0.8
1.2
1.6
0.8
0.8
Statistics:
Mean:
0.724774775
Maximum:
2.4
Sum:
107.2666667
RMS:
0.924134202
Mean X:
0.608108108
Mean Y:
0.841441441
Maximum X:
1.8
Maximum Y:
2.4
Sum X:
45
Sum Y:
62.26666667
RMS X:
0.779119392
RMS Y:
1.049295488
95
95
95
97
100
103
105
109
113
117
124
131
138
146
154
159
84
90
96
102
108
114
116
124
128
131
134
136
135
134
129
125
96.2
95.8
96.4
98
100
102.8
106
109.4
113.6
118.8
124.6
131.2
138.6
145.6
153
159
82.6
89.6
96
102
107.2
112.8
118
122.6
126.6
130.6
132.8
134
133.6
131.8
129.3333333
125
-1.2
-0.8
-1.4
-1
0
0.2
-1
-0.4
-0.6
-1.8
-0.6
-0.2
-0.6
0.4
1
0
1.4
0.4
0
0
0.8
1.2
-2
1.4
1.4
0.4
1.2
2
1.4
2.2
-0.333333333
0
1.2
0.8
1.4
1
0
0.2
1
0.4
0.6
1.8
0.6
0.2
0.6
0.4
1
0
1.4
0.4
0
0
0.8
1.2
2
1.4
1.4
0.4
1.2
2
1.4
2.2
0.333333333
0

Raw:
X
100
100
98
97
97
95
94
95
95
93
94
97
97
99
102
104
104
107
109
115
119
123
128
131
134
140
146
153
159
164
165
169
171
173
174
177
177
178
177
174
172
170
166
161
157
152
145
138
134
129
125
119
116
109
104
102
102
98
96
98
96
Moving
Average X:
Y
63
63
73
76
76
81
84
85
85
94
95
100
103
107
112
118
120
124
125
129
134
137
137
138
138
139
138
136
135
131
129
125
120
117
110
105
99
91
88
77
71
62
55
48
44
41
38
38
37
38
41
42
47
49
55
61
70
79
85
90
95
100
99.33333333
98.4
97.4
96.2
95.6
95.2
94.4
94.2
94.8
95.2
96
97.8
99.8
101.2
103.2
105.2
107.8
110.8
114.6
118.8
123.2
127
131.2
135.8
140.8
146.4
152.4
157.4
162
165.6
168.4
170.4
172.8
174.4
175.8
176.6
176.6
175.6
174.2
171.8
168.6
165.2
161.2
156.2
150.6
145.2
139.6
134.2
129
124.6
119.6
114.6
110
106.6
103
100.4
99.2
98
97.6
98.4
Moving
Average Y:
63
66.33333333
70.2
73.8
78
80.4
82.2
85.8
88.6
91.8
95.4
99.8
103.4
108
112
116.2
119.8
123.2
126.4
129.8
132.4
135
136.8
137.8
138
137.8
137.2
135.8
133.8
131.2
128
124.4
120.2
115.4
110.2
104.4
98.6
92
85.2
77.8
70.6
62.6
56
50
45.2
41.8
39.6
38.4
38.4
39.2
41
43.4
46.8
50.8
56.4
62.8
70
77
83.8
90.4
96.2
Difference X:
0
0.666666667
-0.4
-0.4
0.8
-0.6
-1.2
0.6
0.8
-1.8
-1.2
1
-0.8
-0.8
0.8
0.8
-1.2
-0.8
-1.8
0.4
0.2
-0.2
1
-0.2
-1.8
-0.8
-0.4
0.6
1.6
2
-0.6
0.6
0.6
0.2
-0.4
1.2
0.4
1.4
1.4
-0.2
0.2
1.4
0.8
-0.2
0.8
1.4
-0.2
-1.6
-0.2
0
0.4
-0.6
1.4
-1
-2.6
-1
1.6
-1.2
-2
0.4
-2.4
Difference Y:
0
-3.333333333
2.8
2.2
-2
0.6
1.8
-0.8
-3.6
2.2
-0.4
0.2
-0.4
-1
0
1.8
0.2
0.8
-1.4
-0.8
1.6
2
0.2
0.2
0
1.2
0.8
0.2
1.2
-0.2
1
0.6
-0.2
1.6
-0.2
0.6
0.4
-1
2.8
-0.8
0.4
-0.6
-1
-2
-1.2
-0.8
-1.6
-0.4
-1.4
-1.2
0
-1.4
0.2
-1.8
-1.4
-1.8
0
2
1.2
-0.4
-1.2
Difference X
(abs):
0
0.666666667
0.4
0.4
0.8
0.6
1.2
0.6
0.8
1.8
1.2
1
0.8
0.8
0.8
0.8
1.2
0.8
1.8
0.4
0.2
0.2
1
0.2
1.8
0.8
0.4
0.6
1.6
2
0.6
0.6
0.6
0.2
0.4
1.2
0.4
1.4
1.4
0.2
0.2
1.4
0.8
0.2
0.8
1.4
0.2
1.6
0.2
0
0.4
0.6
1.4
1
2.6
1
1.6
1.2
2
0.4
2.4
Difference Y
(abs):
0
3.333333333
2.8
2.2
2
0.6
1.8
0.8
3.6
2.2
0.4
0.2
0.4
1
0
1.8
0.2
0.8
1.4
0.8
1.6
2
0.2
0.2
0
1.2
0.8
0.2
1.2
0.2
1
0.6
0.2
1.6
0.2
0.6
0.4
1
2.8
0.8
0.4
0.6
1
2
1.2
0.8
1.6
0.4
1.4
1.2
0
1.4
0.2
1.8
1.4
1.8
0
2
1.2
0.4
1.2
Statistics:
Mean:
1.035616438
Maximum:
3.8
Sum:
151.2
RMS:
1.316746139
Mean X:
0.887671233
Mean Y:
1.183561644
Maximum X:
2.6
Maximum Y:
3.8
Sum X:
64.8
Sum Y:
86.4
RMS X:
1.100491104
RMS Y:
1.502185116
100
102
105
105
112
114
119
126
133
140
147
156
103
108
114
114
126
127
130
133
135
133
132
125
100.2
101.6
104.8
107.6
111
115.2
120.8
126.4
133
140.4
146.8
153.6666667
102
106.8
113
117.8
122.2
126
130.2
131.6
132.6
131.6
129.6
126.6666667
-0.2
0.4
0.2
-2.6
1
-1.2
-1.8
-0.4
0
-0.4
0.2
2.333333333
1
1.2
1
-3.8
3.8
1
-0.2
1.4
2.4
1.4
2.4
-1.666666667
0.2
0.4
0.2
2.6
1
1.2
1.8
0.4
0
0.4
0.2
2.333333333
1
1.2
1
3.8
3.8
1
0.2
1.4
2.4
1.4
2.4
1.666666667

140
120
Y-coordinate
100
80
Moving Average
Kalman Filter
60
40
20
80
100
120
140
160
180
X-coordinate

140
120
Y-coordinate
100
80
Moving Average
Raw Data
60
40
20
80
100
120
140
X-coordinate
160
180
Trial 5:
Kalman Filter Data:
Kalman:
X
97
99
102
105
106
110
113
117
125
132
139
145
150
157
163
169
173
175
177
176
175
174
168
163
157
150
142
135
128
118
113
104
96
91
87
85
85
85
85
88
92
96
101
107
116
124
132
140
146
154
161
166
Moving
Average X:
Y
110
116
121
124
127
127
128
129
131
134
135
135
133
128
123
119
111
103
94
83
73
69
58
49
43
38
34
33
33
36
38
45
52
59
67
71
79
85
92
102
109
116
124
129
133
136
136
136
134
128
124
118
97
99.33333333
101.8
104.4
107.2
110.2
114.2
119.4
125.2
131.6
138.2
144.6
150.8
156.8
162.4
167.4
171.4
174
175.2
175.4
174
171.2
167.4
162.4
156
149.4
142.4
134.6
127.2
119.6
111.8
104.4
98.2
92.6
88.8
86.6
85.4
85.6
87
89.2
92.4
96.8
102.4
108.8
116
123.8
131.6
139.2
146.6
153.4
160.3333333
166
Moving
Average Y:
110
115.6666667
119.6
123
125.4
127
128.4
129.8
131.4
132.8
133.6
133
130.8
127.6
122.8
116.8
110
102
92.8
84.4
75.4
66.4
58.4
51.4
44.4
39.4
36.2
34.8
34.8
37
40.8
46
52.2
58.8
65.6
72.2
78.8
85.8
93.4
100.8
108.6
116
122.2
127.6
131.6
134
135
134
131.6
128
123.3333333
118
Difference X:
0
-0.333333333
0.2
0.6
-1.2
-0.2
-1.2
-2.4
-0.2
0.4
0.8
0.4
-0.8
0.2
0.6
1.6
1.6
1
1.8
0.6
1
2.8
0.6
0.6
1
0.6
-0.4
0.4
0.8
-1.6
1.2
-0.4
-2.2
-1.6
-1.8
-1.6
-0.4
-0.6
-2
-1.2
-0.4
-0.8
-1.4
-1.8
0
0.2
0.4
0.8
-0.6
0.6
0.666666667
0
Difference Y:
0
0.333333333
1.4
1
1.6
0
-0.4
-0.8
-0.4
1.2
1.4
2
2.2
0.4
0.2
2.2
1
1
1.2
-1.4
-2.4
2.6
-0.4
-2.4
-1.4
-1.4
-2.2
-1.8
-1.8
-1
-2.8
-1
-0.2
0.2
1.4
-1.2
0.2
-0.8
-1.4
1.2
0.4
0
1.8
1.4
1.4
2
1
2
2.4
0
0.666666667
0
Difference X
(abs):
0
0.333333333
0.2
0.6
1.2
0.2
1.2
2.4
0.2
0.4
0.8
0.4
0.8
0.2
0.6
1.6
1.6
1
1.8
0.6
1
2.8
0.6
0.6
1
0.6
0.4
0.4
0.8
1.6
1.2
0.4
2.2
1.6
1.8
1.6
0.4
0.6
2
1.2
0.4
0.8
1.4
1.8
0
0.2
0.4
0.8
0.6
0.6
0.666666667
0
Difference Y
(abs):
0
0.333333333
1.4
1
1.6
0
0.4
0.8
0.4
1.2
1.4
2
2.2
0.4
0.2
2.2
1
1
1.2
1.4
2.4
2.6
0.4
2.4
1.4
1.4
2.2
1.8
1.8
1
2.8
1
0.2
0.2
1.4
1.2
0.2
0.8
1.4
1.2
0.4
0
1.8
1.4
1.4
2
1
2
2.4
0
0.666666667
0
Statistics:
Mean:
1.034615385
Maximum:
2.8
Sum:
107.6
RMS:
1.26730753
Mean X:
0.896153846
Mean Y:
1.173076923
Maximum X:
2.8
Maximum Y:
2.8
Sum X:
46.6
Sum Y:
61
RMS X:
1.110747804
RMS Y:
1.406547571

Raw:
X
98
100
103
105
106
111
114
119
128
135
140
146
150
158
164
169
172
173
176
173
173
173
164
161
155
148
141
135
128
116
116
102
96
94
89
89
88
88
87
91
95
99
103
110
119
126
134
141
145
155
161
166
Moving
Average X:
Y
111
116
121
124
126
125
127
130
132
135
134
134
131
125
121
118
109
101
92
81
73
73
55
49
45
41
37
37
37
40
40
51
56
62
70
70
81
86
93
105
109
116
125
127
132
134
133
135
131
124
122
116
98
100.3333333
102.4
105
107.8
111
115.6
121.4
127.2
133.6
139.8
145.8
151.6
157.4
162.6
167.2
170.8
172.6
173.4
173.6
171.8
168.8
165.2
160.2
153.8
148
141.4
133.6
127.2
119.4
111.6
104.8
99.4
94
91.2
89.6
88.2
88.6
89.8
92
95
99.6
105.2
111.4
118.4
126
133
140.2
147.2
153.6
160.6666667
166
Moving
Average Y:
111
116
119.6
122.4
124.6
126.4
128
129.8
131.6
133
133.2
131.8
129
125.8
120.8
114.8
108.2
100.2
91.2
84
74.8
66.2
59
52.6
45.4
41.8
39.4
38.4
38.2
41
44.8
49.8
55.8
61.8
67.8
73.8
80
87
94.8
101.8
109.6
116.4
121.8
126.8
130.2
132.2
133
131.4
129
125.6
120.6666667
116
Difference X:
0
-0.333333333
0.6
0
-1.8
0
-1.6
-2.4
0.8
1.4
0.2
0.2
-1.6
0.6
1.4
1.8
1.2
0.4
2.6
-0.6
1.2
4.2
-1.2
0.8
1.2
0
-0.4
1.4
0.8
-3.4
4.4
-2.8
-3.4
0
-2.2
-0.6
-0.2
-0.6
-2.8
-1
0
-0.6
-2.2
-1.4
0.6
0
1
0.8
-2.2
1.4
0.333333333
0
Difference Y:
0
0
1.4
1.6
1.4
-1.4
-1
0.2
0.4
2
0.8
2.2
2
-0.8
0.2
3.2
0.8
0.8
0.8
-3
-1.8
6.8
-4
-3.6
-0.4
-0.8
-2.4
-1.4
-1.2
-1
-4.8
1.2
0.2
0.2
2.2
-3.8
1
-1
-1.8
3.2
-0.6
-0.4
3.2
0.2
1.8
1.8
0
3.6
2
-1.6
1.333333333
0
Difference X
(abs):
0
0.333333333
0.6
0
1.8
0
1.6
2.4
0.8
1.4
0.2
0.2
1.6
0.6
1.4
1.8
1.2
0.4
2.6
0.6
1.2
4.2
1.2
0.8
1.2
0
0.4
1.4
0.8
3.4
4.4
2.8
3.4
0
2.2
0.6
0.2
0.6
2.8
1
0
0.6
2.2
1.4
0.6
0
1
0.8
2.2
1.4
0.333333333
0
Difference Y
(abs):
0
0
1.4
1.6
1.4
1.4
1
0.2
0.4
2
0.8
2.2
2
0.8
0.2
3.2
0.8
0.8
0.8
3
1.8
6.8
4
3.6
0.4
0.8
2.4
1.4
1.2
1
4.8
1.2
0.2
0.2
2.2
3.8
1
1
1.8
3.2
0.6
0.4
3.2
0.2
1.8
1.8
0
3.6
2
1.6
1.333333333
0
Statistics:
Mean:
1.403846154
Maximum:
6.8
Sum:
146
RMS:
1.88618459
Mean X:
1.205128205
Mean Y:
1.602564103
Maximum X:
4.4
Maximum Y:
6.8
Sum X:
62.66666667
Sum Y:
83.33333333
RMS X:
1.627540749
RMS Y:
2.113408556

140
120
Y-coordinate
100
80
Moving Average
Kalman Filter
60
40
20
80
100
120
140
160
180
X-coordinate

140
120
Y-coordinate
100
80
Moving Average
Raw Data
60
40
20
80
100
120
140
X-coordinate
160
180
Star 1:
Trial 1:
Kalman Filter Data:
Kalman:
X
142
142
140
139
140
141
142
142
144
145
146
147
148
149
151
152
152
154
155
157
160
162
164
168
172
174
179
182
185
188
189
189
190
188
187
186
186
185
185
185
184
182
179
177
175
172
170
169
169
169
169
167
165
164
163
163
164
165
Y
28
29
29
30
30
31
32
36
39
42
45
48
51
54
58
63
66
70
75
79
80
79
79
79
79
77
77
76
75
74
75
75
76
78
81
83
84
84
84
84
84
84
84
86
88
90
91
91
90
91
93
96
98
99
99
100
104
108
Moving
Average X:
Moving
Average Y:
Difference X:
Difference Y:
Difference X
(abs):
Difference Y
(abs):
142
141.3333333
140.6
140.4
140.4
140.8
141.8
142.8
143.8
144.8
146
147
148.2
149.4
150.4
151.6
152.8
154
155.6
157.6
159.6
162.2
165.2
168
171.4
175
178.4
181.6
184.6
186.6
188.2
188.8
188.6
188
187.4
186.4
185.8
185.4
185
184.2
183
181.4
179.4
177
174.6
172.6
171
169.8
169.2
168.6
167.8
166.8
165.6
164.4
163.8
163.8
164.4
165.2
28
28.66666667
29.2
29.8
30.4
31.8
33.6
36
38.8
42
45
48
51.2
54.8
58.4
62.2
66.4
70.6
74
76.6
78.4
79.2
79.2
78.6
78.2
77.6
76.8
75.8
75.4
75
75
75.6
77
78.6
80.4
82
83.2
83.8
84
84
84
84.4
85.2
86.4
87.8
89.2
90
90.6
91.2
92.2
93.6
95.4
97
98.4
100
102
105
109
0
0.666666667
-0.6
-1.4
-0.4
0.2
0.2
-0.8
0.2
0.2
0
0
-0.2
-0.4
0.6
0.4
-0.8
0
-0.6
-0.6
0.4
-0.2
-1.2
0
0.6
-1
0.6
0.4
0.4
1.4
0.8
0.2
1.4
0
-0.4
-0.4
0.2
-0.4
0
0.8
1
0.6
-0.4
0
0.4
-0.6
-1
-0.8
-0.2
0.4
1.2
0.2
-0.6
-0.4
-0.8
-0.8
-0.4
-0.2
0
0.333333333
-0.2
0.2
-0.4
-0.8
-1.6
0
0.2
0
0
0
-0.2
-0.8
-0.4
0.8
-0.4
-0.6
1
2.4
1.6
-0.2
-0.2
0.4
0.8
-0.6
0.2
0.2
-0.4
-1
0
-0.6
-1
-0.6
0.6
1
0.8
0.2
0
0
0
-0.4
-1.2
-0.4
0.2
0.8
1
0.4
-1.2
-1.2
-0.6
0.6
1
0.6
-1
-2
-1
-1
0
0.666666667
0.6
1.4
0.4
0.2
0.2
0.8
0.2
0.2
0
0
0.2
0.4
0.6
0.4
0.8
0
0.6
0.6
0.4
0.2
1.2
0
0.6
1
0.6
0.4
0.4
1.4
0.8
0.2
1.4
0
0.4
0.4
0.2
0.4
0
0.8
1
0.6
0.4
0
0.4
0.6
1
0.8
0.2
0.4
1.2
0.2
0.6
0.4
0.8
0.8
0.4
0.2
0
0.333333333
0.2
0.2
0.4
0.8
1.6
0
0.2
0
0
0
0.2
0.8
0.4
0.8
0.4
0.6
1
2.4
1.6
0.2
0.2
0.4
0.8
0.6
0.2
0.2
0.4
1
0
0.6
1
0.6
0.6
1
0.8
0.2
0
0
0
0.4
1.2
0.4
0.2
0.8
1
0.4
1.2
1.2
0.6
0.6
1
0.6
1
2
1
1
Statistics:
Mean:
0.687313433
Maximum:
3.4
Sum:
184.2
RMS:
0.897157849
Mean X:
0.647263682
Mean Y:
0.727363184
Maximum X:
3.4
Maximum Y:
3
Sum X:
86.73333333
Sum Y:
97.46666667
RMS X:
0.852603077
RMS Y:
0.939602259
167
167
169
170
171
174
176
177
176
173
168
164
158
152
149
146
144
142
140
138
136
134
129
124
121
117
112
108
107
107
109
110
110
114
117
118
120
122
123
124
124
123
122
115
109
103
98
93
89
86
85
86
87
91
96
99
104
108
112
116
120
123
126
128
129
130
114
119
122
125
130
135
140
144
144
142
139
135
129
124
121
118
117
117
120
122
124
127
130
133
136
139
142
144
144
141
137
131
128
120
115
110
106
103
100
99
99
98
97
94
90
85
82
78
76
73
72
72
73
73
73
73
73
74
74
73
73
73
75
75
74
72
166.4
167.6
168.8
170.2
172
173.6
174.8
175.2
174
171.6
167.8
163
158.2
153.8
149.8
146.6
144.2
142
140
138
135.4
132.2
128.8
125
120.6
116.4
113
110.2
108.6
108.2
108.6
110
112
113.8
115.8
118.2
120
121.4
122.6
123.2
123.2
121.6
118.6
114.4
109.4
103.6
98.4
93.8
90.2
87.8
86.6
87
89
91.8
95.4
99.6
103.8
107.8
112
115.8
119.4
122.6
125.2
127.2
128.6
129.6
113.4
117.6
122
126.2
130.4
134.8
138.6
141
141.8
140.8
137.8
133.8
129.6
125.4
121.8
119.4
118.6
118.8
120
122
124.6
127.2
130
133
136
138.8
141
142
141.6
139.4
136.2
131.4
126.2
120.8
115.8
110.8
106.8
103.6
101.4
99.8
98.6
97.4
95.6
92.8
89.6
85.8
82.2
78.8
76.2
74.2
73.2
72.6
72.6
72.8
73
73.2
73.4
73.4
73.4
73.4
73.6
73.8
74
73.8
73.2
71
0.6
-0.6
0.2
-0.2
-1
0.4
1.2
1.8
2
1.4
0.2
1
-0.2
-1.8
-0.8
-0.6
-0.2
0
0
0
0.6
1.8
0.2
-1
0.4
0.6
-1
-2.2
-1.6
-1.2
0.4
0
-2
0.2
1.2
-0.2
0
0.6
0.4
0.8
0.8
1.4
3.4
0.6
-0.4
-0.6
-0.4
-0.8
-1.2
-1.8
-1.6
-1
-2
-0.8
0.6
-0.6
0.2
0.2
0
0.2
0.6
0.4
0.8
0.8
0.4
0.4
0.6
1.4
0
-1.2
-0.4
0.2
1.4
3
2.2
1.2
1.2
1.2
-0.6
-1.4
-0.8
-1.4
-1.6
-1.8
0
0
-0.6
-0.2
0
0
0
0.2
1
2
2.4
1.6
0.8
-0.4
1.8
-0.8
-0.8
-0.8
-0.8
-0.6
-1.4
-0.8
0.4
0.6
1.4
1.2
0.4
-0.8
-0.2
-0.8
-0.2
-1.2
-1.2
-0.6
0.4
0.2
0
-0.2
-0.4
0.6
0.6
-0.4
-0.6
-0.8
1
1.2
0.8
1
0.6
0.6
0.2
0.2
1
0.4
1.2
1.8
2
1.4
0.2
1
0.2
1.8
0.8
0.6
0.2
0
0
0
0.6
1.8
0.2
1
0.4
0.6
1
2.2
1.6
1.2
0.4
0
2
0.2
1.2
0.2
0
0.6
0.4
0.8
0.8
1.4
3.4
0.6
0.4
0.6
0.4
0.8
1.2
1.8
1.6
1
2
0.8
0.6
0.6
0.2
0.2
0
0.2
0.6
0.4
0.8
0.8
0.4
0.4
0.6
1.4
0
1.2
0.4
0.2
1.4
3
2.2
1.2
1.2
1.2
0.6
1.4
0.8
1.4
1.6
1.8
0
0
0.6
0.2
0
0
0
0.2
1
2
2.4
1.6
0.8
0.4
1.8
0.8
0.8
0.8
0.8
0.6
1.4
0.8
0.4
0.6
1.4
1.2
0.4
0.8
0.2
0.8
0.2
1.2
1.2
0.6
0.4
0.2
0
0.2
0.4
0.6
0.6
0.4
0.6
0.8
1
1.2
0.8
1
130
131
133
133
133
134
135
137
70
64
59
53
47
42
39
36
130.6
131.4
132
132.8
133.6
134.4
135.8
137.4
67.8
63.6
58.6
53
48
43.4
39.4
36.2
-0.6
-0.4
1
0.2
-0.6
-0.4
-0.8
-0.4
140
141
33
31
139.3333333
141
33.33333333
31
0.666666667
0
2.2
0.4
0.4
0
-1
-1.4
-0.4
-0.2
0.333333333
0
0.6
0.4
1
0.2
0.6
0.4
0.8
0.4
2.2
0.4
0.4
0
1
1.4
0.4
0.2
0.666666667
0
0.333333333
0

Moving
Average X:
Raw:
X
143
Y
29
143
142
140
140
141
142
143
143
145
146
146
147
149
149
153
152
152
155
156
158
161
163
165
169
174
173
181
183
184
188
189
188
189
187
186
187
186
186
186
185
184
181
179
177
175
172
171
171
170
170
170
166
165
164
164
165
165
167
168
168
29
30
30
31
32
33
38
41
43
46
49
52
55
59
64
67
71
76
79
79
77
78
78
79
76
77
77
75
75
76
76
78
80
83
83
84
84
84
84
84
84
85
87
90
91
91
90
90
92
94
98
98
99
99
100
106
110
117
120
141.6666667
141.2
141
141.2
141.8
142.8
143.8
144.6
145.4
146.6
147.4
148.8
150
151
152.2
153.6
154.6
156.4
158.6
160.6
163.2
166.4
168.8
172.4
176
179
181.8
185
186.4
187.6
188.2
187.8
187.4
187
186.4
186.2
186
185.4
184.4
183
181.2
179.2
176.8
174.8
173.2
171.8
170.8
170.4
169.4
168.2
167
165.8
164.8
164.6
165
165.8
166.6
167.6
168.6
Moving
Average Y:
Difference X:
Difference Y:
29
29.33333333
29.8
30.4
31.2
32.8
35
37.4
40.2
43.4
46.2
49
52.2
55.8
59.4
63.2
67.4
71.4
74.4
76.4
77.8
78.2
78.2
77.6
77.6
77.4
76.8
76
76
75.8
76
77
78.6
80
81.6
82.8
83.6
83.8
84
84
84.2
84.8
86
87.4
88.8
89.8
90.4
90.8
91.4
92.8
94.4
96.2
97.6
98.8
100.4
102.8
106.4
110.6
114.8
118.6
0.333333333
-1.2
-1
-0.2
0.2
0.2
-0.8
0.4
0.6
-0.6
-0.4
0.2
-1
2
-0.2
-1.6
0.4
-0.4
-0.6
0.4
-0.2
-1.4
0.2
1.6
-3
2
1.2
-1
1.6
1.4
-0.2
1.2
-0.4
-1
0.6
-0.2
0
0.6
0.6
1
-0.2
-0.2
0.2
0.2
-1.2
-0.8
0.2
-0.4
0.6
1.8
-1
-0.8
-0.8
-0.6
0
-0.8
0.4
0.4
-0.6
0
0.333333333
0.2
-0.4
-0.2
-0.8
-2
0.6
0.8
-0.4
-0.2
0
-0.2
-0.8
-0.4
0.8
-0.4
-0.4
1.6
2.6
1.2
-1.2
-0.2
0.4
1.4
-1.4
0.2
1
-1
-0.8
0
-1
-0.6
0
1.4
0.2
0.4
0.2
0
0
-0.2
-0.8
-1
-0.4
1.2
1.2
0.6
-0.8
-1.4
-0.8
-0.4
1.8
0.4
0.2
-1.4
-2.8
-0.4
-0.6
2.2
1.4
Difference X
(abs):
Difference Y
(abs):
0.333333333
1.2
1
0.2
0.2
0.2
0.8
0.4
0.6
0.6
0.4
0.2
1
2
0.2
1.6
0.4
0.4
0.6
0.4
0.2
1.4
0.2
1.6
3
2
1.2
1
1.6
1.4
0.2
1.2
0.4
1
0.6
0.2
0
0.6
0.6
1
0.2
0.2
0.2
0.2
1.2
0.8
0.2
0.4
0.6
1.8
1
0.8
0.8
0.6
0
0.8
0.4
0.4
0.6
0.333333333
0.2
0.4
0.2
0.8
2
0.6
0.8
0.4
0.2
0
0.2
0.8
0.4
0.8
0.4
0.4
1.6
2.6
1.2
1.2
0.2
0.4
1.4
1.4
0.2
1
1
0.8
0
1
0.6
0
1.4
0.2
0.4
0.2
0
0
0.2
0.8
1
0.4
1.2
1.2
0.6
0.8
1.4
0.8
0.4
1.8
0.4
0.2
1.4
2.8
0.4
0.6
2.2
1.4
Statistics:
Mean:
0.918905473
Maximum:
4
Sum:
246.2666667
RMS:
1.177427277
Mean X:
0.910945274
Mean Y:
0.926865672
Maximum X:
4
Maximum Y:
3.4
Sum X:
122.0666667
Sum Y:
124.2
RMS X:
1.16754054
RMS Y:
1.187231684
170
170
171
176
176
178
174
171
166
162
156
152
151
147
146
144
141
138
137
134
127
124
121
117
112
109
109
110
113
111
111
118
118
118
121
123
122
124
124
122
121
111
107
101
98
94
90
88
87
89
90
94
99
101
105
109
113
117
121
123
125
128
128
129
129
132
121
125
131
137
141
143
141
139
136
133
126
123
123
119
119
119
124
124
126
128
131
135
137
139
143
143
143
138
134
128
128
117
116
110
108
104
102
101
101
100
98
93
89
84
83
78
78
74
74
74
75
75
74
74
74
75
75
73
74
74
76
76
73
71
69
62
169.4
171
172.6
174.2
175
175
173
170.2
165.8
161.4
157.4
153.6
150.4
148
145.8
143.2
141.2
138.8
135.4
132
128.6
124.6
120.2
116.6
113.6
111.4
110.6
110.4
110.8
112.6
114.2
115.2
117.2
119.6
120.4
121.6
122.8
123
122.6
120.4
117
112.4
107.6
102.2
98
94.2
91.4
89.6
88.8
89.6
91.8
94.6
97.8
101.6
105.4
109
113
116.6
119.8
122.8
125
126.6
127.8
129.2
130.4
131.4
122.8
126.8
131
135.4
138.6
140.2
140
138.4
135
131.4
128.2
124.8
122
120.6
120.8
121
122.4
124.2
126.6
128.8
131.4
134
137
139.4
141
141.2
140.2
137.2
134.2
129
124.6
119.8
115.8
111
108
105
103.2
101.6
100.4
98.6
96.2
92.8
89.4
85.4
82.4
79.4
77.4
75.6
75
74.4
74.4
74.4
74.4
74.4
74.4
74.2
74.2
74.2
74.4
74.6
74.6
74
73
70.2
66.4
62.2
0.6
-1
-1.6
1.8
1
3
1
0.8
0.2
0.6
-1.4
-1.6
0.6
-1
0.2
0.8
-0.2
-0.8
1.6
2
-1.6
-0.6
0.8
0.4
-1.6
-2.4
-1.6
-0.4
2.2
-1.6
-3.2
2.8
0.8
-1.6
0.6
1.4
-0.8
1
1.4
1.6
4
-1.4
-0.6
-1.2
0
-0.2
-1.4
-1.6
-1.8
-0.6
-1.8
-0.6
1.2
-0.6
-0.4
0
0
0.4
1.2
0.2
0
1.4
0.2
-0.2
-1.4
0.6
-1.8
-1.8
0
1.6
2.4
2.8
1
0.6
1
1.6
-2.2
-1.8
1
-1.6
-1.8
-2
1.6
-0.2
-0.6
-0.8
-0.4
1
0
-0.4
2
1.8
2.8
0.8
-0.2
-1
3.4
-2.8
0.2
-1
0
-1
-1.2
-0.6
0.6
1.4
1.8
0.2
-0.4
-1.4
0.6
-1.4
0.6
-1.6
-1
-0.4
0.6
0.6
-0.4
-0.4
-0.4
0.8
0.8
-1.2
-0.4
-0.6
1.4
2
0
0.8
2.6
-0.2
0.6
1
1.6
1.8
1
3
1
0.8
0.2
0.6
1.4
1.6
0.6
1
0.2
0.8
0.2
0.8
1.6
2
1.6
0.6
0.8
0.4
1.6
2.4
1.6
0.4
2.2
1.6
3.2
2.8
0.8
1.6
0.6
1.4
0.8
1
1.4
1.6
4
1.4
0.6
1.2
0
0.2
1.4
1.6
1.8
0.6
1.8
0.6
1.2
0.6
0.4
0
0
0.4
1.2
0.2
0
1.4
0.2
0.2
1.4
0.6
1.8
1.8
0
1.6
2.4
2.8
1
0.6
1
1.6
2.2
1.8
1
1.6
1.8
2
1.6
0.2
0.6
0.8
0.4
1
0
0.4
2
1.8
2.8
0.8
0.2
1
3.4
2.8
0.2
1
0
1
1.2
0.6
0.6
1.4
1.8
0.2
0.4
1.4
0.6
1.4
0.6
1.6
1
0.4
0.6
0.6
0.4
0.4
0.4
0.8
0.8
1.2
0.4
0.6
1.4
2
0
0.8
2.6
0.2
134
133
133
134
136
139
57
52
47
42
41
38
132.2
133.2
134
135
136.6
138.4
57.4
52
47.8
44
40.4
37.4
1.8
-0.2
-1
-1
-0.6
0.6
141
142
34
32
140.6666667
142
34.66666667
32
0.333333333
0
-0.4
0
-0.8
-2
0.6
0.6
0.666666667
0
1.8
0.2
1
1
0.6
0.6
0.4
0
0.8
2
0.6
0.6
0.333333333
0
0.666666667
0
Star 1 Trial 1 Kalman Filter

160
140
Y-coordinate
120
100
Moving Average
80
Kalman Filter
60
40
20
80
100
120
140
160
180
200
X-coordinate
Star 1 Trial 1 Raw Measurement

160
140
Y-coordinate
120
100
Moving Average
80
Raw Data
60
40
20
80
100
120
140
X-coordinate
160
180
200
Trial 2:
Kalman Filter Data:
Kalman:
X
139
138
138
138
140
142
143
145
147
149
151
152
152
154
158
164
168
171
174
177
179
180
182
183
179
176
171
167
164
160
157
156
156
159
161
164
168
172
173
175
175
173
167
160
152
144
139
136
135
134
131
126
122
116
110
107
105
105
Moving
Average X:
Y
27
31
32
34
40
46
52
56
62
70
74
76
77
77
77
77
76
75
75
74
75
75
77
79
84
90
94
95
97
98
102
106
111
118
124
131
138
142
146
149
148
146
141
136
131
126
122
121
121
123
126
132
137
142
145
147
149
146
139
138.3333333
138.6
139.2
140.2
141.6
143.4
145.2
147
148.8
150.2
151.6
153.4
156
159.2
163
167
170.8
173.8
176.2
178.4
180.2
180.6
180
178.2
175.2
171.4
167.6
163.8
160.8
158.6
157.6
157.8
159.2
161.6
164.8
167.6
170.4
172.6
173.6
172.6
170
165.4
159.2
152.4
146.2
141.2
137.6
135
132.4
129.6
125.8
121
116.2
112
108.6
106.8
106.8
Moving
Average Y:
27
30
32.8
36.6
40.8
45.6
51.2
57.2
62.8
67.6
71.8
74.8
76.2
76.8
76.8
76.4
76
75.4
75
74.8
75.2
76
78
81
84.8
88.4
92
94.8
97.2
99.6
102.8
107
112.2
118
124.4
130.6
136.2
141.2
144.6
146.2
146
144
140.4
136
131.2
127.2
124.2
122.6
122.6
124.6
127.8
132
136.4
140.6
144
145.8
145.8
143.6
Difference X:
0
-0.333333333
-0.6
-1.2
-0.2
0.4
-0.4
-0.2
0
0.2
0.8
0.4
-1.4
-2
-1.2
1
1
0.2
0.2
0.8
0.6
-0.2
1.4
3
0.8
0.8
-0.4
-0.6
0.2
-0.8
-1.6
-1.6
-1.8
-0.2
-0.6
-0.8
0.4
1.6
0.4
1.4
2.4
3
1.6
0.8
-0.4
-2.2
-2.2
-1.6
0
1.6
1.4
0.2
1
-0.2
-2
-1.6
-1.8
-1.8
Difference Y:
0
1
-0.8
-2.6
-0.8
0.4
0.8
-1.2
-0.8
2.4
2.2
1.2
0.8
0.2
0.2
0.6
0
-0.4
0
-0.8
-0.2
-1
-1
-2
-0.8
1.6
2
0.2
-0.2
-1.6
-0.8
-1
-1.2
0
-0.4
0.4
1.8
0.8
1.4
2.8
2
2
0.6
0
-0.2
-1.2
-2.2
-1.6
-1.6
-1.6
-1.8
0
0.6
1.4
1
1.2
3.2
2.4
Difference X
(abs):
0
0.333333333
0.6
1.2
0.2
0.4
0.4
0.2
0
0.2
0.8
0.4
1.4
2
1.2
1
1
0.2
0.2
0.8
0.6
0.2
1.4
3
0.8
0.8
0.4
0.6
0.2
0.8
1.6
1.6
1.8
0.2
0.6
0.8
0.4
1.6
0.4
1.4
2.4
3
1.6
0.8
0.4
2.2
2.2
1.6
0
1.6
1.4
0.2
1
0.2
2
1.6
1.8
1.8
Difference Y
(abs):
0
1
0.8
2.6
0.8
0.4
0.8
1.2
0.8
2.4
2.2
1.2
0.8
0.2
0.2
0.6
0
0.4
0
0.8
0.2
1
1
2
0.8
1.6
2
0.2
0.2
1.6
0.8
1
1.2
0
0.4
0.4
1.8
0.8
1.4
2.8
2
2
0.6
0
0.2
1.2
2.2
1.6
1.6
1.6
1.8
0
0.6
1.4
1
1.2
3.2
2.4
Statistics:
Mean:
0.955902778
Maximum:
3.4
Sum:
183.5333333
RMS:
1.230825152
Mean X:
0.941666667
Mean Y:
0.970138889
Maximum X:
3.4
Maximum Y:
3.2
Sum X:
90.4
Sum Y:
93.13333333
RMS X:
1.216704718
RMS Y:
1.24478542
107
110
113
116
118
120
121
121
116
111
106
101
96
93
88
85
84
84
89
95
102
110
116
122
126
131
133
135
136
136
138
138
140
139
139
139
139
137
142
134
128
123
121
114
110
106
102
98
94
91
87
85
81
78
76
76
77
78
78
78
78
78
77
73
66
60
52
47
43
42
40
39
38
39
39
40
108
110.2
112.8
115.4
117.6
119.2
119.2
117.8
115
111
106
101.4
96.8
92.6
89.2
86.8
86
87.4
90.8
96
102.4
109
115.2
121
125.6
129.4
132.2
134.2
135.6
136.6
137.6
138.2
138.8
139
139.2
138.6
138.3333333
137
139.8
134.6
129.6
124
119.2
114.8
110.6
106
102
98.2
94.4
91
87.6
84.4
81.4
79.2
77.6
77
77
77.4
77.8
78
77.8
76.8
74.4
70.8
65.6
59.6
53.6
48.8
44.8
42.2
40.4
39.6
39
39
39.33333333
40
-1
-0.2
0.2
0.6
0.4
0.8
1.8
3.2
1
0
0
-0.4
-0.8
0.4
-1.2
-1.8
-2
-3.4
-1.8
-1
-0.4
1
0.8
1
0.4
1.6
0.8
0.8
0.4
-0.6
0.4
-0.2
1.2
0
-0.2
0.4
0.666666667
0
2.2
-0.6
-1.6
-1
1.8
-0.8
-0.6
0
0
-0.2
-0.4
0
-0.6
0.6
-0.4
-1.2
-1.6
-1
0
0.6
0.2
0
0.2
1.2
2.6
2.2
0.4
0.4
-1.6
-1.8
-1.8
-0.2
-0.4
-0.6
-1
0
-0.333333333
0
1
0.2
0.2
0.6
0.4
0.8
1.8
3.2
1
0
0
0.4
0.8
0.4
1.2
1.8
2
3.4
1.8
1
0.4
1
0.8
1
0.4
1.6
0.8
0.8
0.4
0.6
0.4
0.2
1.2
0
0.2
0.4
0.666666667
0
2.2
0.6
1.6
1
1.8
0.8
0.6
0
0
0.2
0.4
0
0.6
0.6
0.4
1.2
1.6
1
0
0.6
0.2
0
0.2
1.2
2.6
2.2
0.4
0.4
1.6
1.8
1.8
0.2
0.4
0.6
1
0
0.333333333
0

Raw:
X
139
139
139
139
142
143
143
147
147
150
151
152
152
155
161
166
169
171
175
177
179
179
182
183
176
174
169
167
164
160
158
158
159
162
163
166
170
174
172
176
173
171
164
157
149
143
140
138
138
136
132
125
121
115
110
108
107
108
111
113
116
118
118
Y
28
32
32
35
43
48
53
57
63
72
73
74
75
76
76
76
75
75
75
75
76
76
78
81
88
93
94
94
96
98
103
108
112
121
126
132
139
141
145
148
145
143
138
134
129
126
123
123
124
127
129
136
140
143
145
147
148
143
139
130
126
123
123
Moving
Average X:
139
139
139.6
140.4
141.2
142.8
144.4
146
147.6
149.4
150.4
152
154.2
157.2
160.6
164.4
168.4
171.6
174.2
176.2
178.4
180
179.8
178.8
176.8
173.8
170
166.8
163.6
161.4
159.8
159.4
160
161.6
164
167
169
171.6
173
173.2
171.2
168.2
162.8
156.8
150.6
145.4
141.6
139
136.8
133.8
130.4
125.8
120.6
115.8
112.2
109.6
108.8
109.4
111
113.2
115.2
117
118.8
Moving
Average Y:
28
30.66666667
34
38
42.2
47.2
52.8
58.6
63.6
67.8
71.4
74
74.8
75.4
75.6
75.6
75.4
75.2
75.2
75.4
76
77.2
79.8
83.2
86.8
90
93
95
97
99.8
103.4
108.4
114
119.8
126
131.8
136.6
141
143.6
144.4
143.8
141.6
137.8
134
130
127
125
124.6
125.2
127.8
131.2
135
138.6
142.2
144.6
145.2
144.4
141.4
137.2
132.2
128.2
123
119
Difference X:
0
0
-0.6
-1.4
0.8
0.2
-1.4
1
-0.6
0.6
0.6
0
-2.2
-2.2
0.4
1.6
0.6
-0.6
0.8
0.8
0.6
-1
2.2
4.2
-0.8
0.2
-1
0.2
0.4
-1.4
-1.8
-1.4
-1
0.4
-1
-1
1
2.4
-1
2.8
1.8
2.8
1.2
0.2
-1.6
-2.4
-1.6
-1
1.2
2.2
1.6
-0.8
0.4
-0.8
-2.2
-1.6
-1.8
-1.4
0
-0.2
0.8
1
-0.8
Difference Y:
0
1.333333333
-2
-3
0.8
0.8
0.2
-1.6
-0.6
4.2
1.6
0
0.2
0.6
0.4
0.4
-0.4
-0.2
-0.2
-0.4
0
-1.2
-1.8
-2.2
1.2
3
1
-1
-1
-1.8
-0.4
-0.4
-2
1.2
0
0.2
2.4
0
1.4
3.6
1.2
1.4
0.2
0
-1
-1
-2
-1.6
-1.2
-0.8
-2.2
1
1.4
0.8
0.4
1.8
3.6
1.6
1.8
-2.2
-2.2
0
4
Difference X
(abs):
0
0
0.6
1.4
0.8
0.2
1.4
1
0.6
0.6
0.6
0
2.2
2.2
0.4
1.6
0.6
0.6
0.8
0.8
0.6
1
2.2
4.2
0.8
0.2
1
0.2
0.4
1.4
1.8
1.4
1
0.4
1
1
1
2.4
1
2.8
1.8
2.8
1.2
0.2
1.6
2.4
1.6
1
1.2
2.2
1.6
0.8
0.4
0.8
2.2
1.6
1.8
1.4
0
0.2
0.8
1
0.8
Difference Y
(abs):
0
1.333333333
2
3
0.8
0.8
0.2
1.6
0.6
4.2
1.6
0
0.2
0.6
0.4
0.4
0.4
0.2
0.2
0.4
0
1.2
1.8
2.2
1.2
3
1
1
1
1.8
0.4
0.4
2
1.2
0
0.2
2.4
0
1.4
3.6
1.2
1.4
0.2
0
1
1
2
1.6
1.2
0.8
2.2
1
1.4
0.8
0.4
1.8
3.6
1.6
1.8
2.2
2.2
0
4
Statistics:
Mean:
1.128819444
Maximum:
4.2
Sum:
216.7333333
RMS:
1.466879719
Mean X:
1.146527778
Mean Y:
1.111111111
Maximum X:
4.2
Maximum Y:
4.2
Sum X:
110.0666667
Sum Y:
106.6666667
RMS X:
1.457467997
RMS Y:
1.476231438
120
122
120
112
109
105
100
96
95
87
86
87
87
94
99
106
113
117
122
125
131
132
133
136
135
138
138
140
139
138
139
139
137
113
110
107
103
99
95
92
88
86
81
79
78
79
80
79
79
79
79
78
77
71
63
58
50
48
45
45
41
41
40
41
41
42
119.6
118.4
116.6
113.6
109.2
104.4
101
96.6
92.8
90.2
88.4
88.2
90.6
94.6
99.8
105.8
111.4
116.6
121.6
125.4
128.6
131.4
133.4
134.8
136
137.4
138
138.6
138.8
139
138.4
138.3333333
137
115.2
111.2
106.4
102.8
99.2
95.4
92
88.4
85.2
82.4
80.6
79.4
79
79
79.2
79.2
78.8
78.4
76.8
73.6
69.4
63.8
58
52.8
49.2
45.8
44
42.4
41.6
40.8
41
41.33333333
42
0.4
3.6
3.4
-1.6
-0.2
0.6
-1
-0.6
2.2
-3.2
-2.4
-1.2
-3.6
-0.6
-0.8
0.2
1.6
0.4
0.4
-0.4
2.4
0.6
-0.4
1.2
-1
0.6
0
1.4
0.2
-1
0.6
0.666666667
0
-2.2
-1.2
0.6
0.2
-0.2
-0.4
0
-0.4
0.8
-1.4
-1.6
-1.4
0
1
-0.2
-0.2
0.2
0.6
1.2
3.4
1.6
-0.8
0
-2.8
-1.2
-0.8
1
-1.4
-0.6
-0.8
0
-0.333333333
0
0.4
3.6
3.4
1.6
0.2
0.6
1
0.6
2.2
3.2
2.4
1.2
3.6
0.6
0.8
0.2
1.6
0.4
0.4
0.4
2.4
0.6
0.4
1.2
1
0.6
0
1.4
0.2
1
0.6
0.666666667
0
2.2
1.2
0.6
0.2
0.2
0.4
0
0.4
0.8
1.4
1.6
1.4
0
1
0.2
0.2
0.2
0.6
1.2
3.4
1.6
0.8
0
2.8
1.2
0.8
1
1.4
0.6
0.8
0
0.333333333
0

160
140
Y-coordinate
120
100
Moving Average
80
Kalman Filter
60
40
20
80
100
120
140
160
180
200
X-coordinate

160
140
Y-coordinate
120
100
Moving Average
80
Raw Data
60
40
20
80
100
120
140
X-coordinate
160
180
200
Trial 3:
Kalman Filter Data:
Kalman:
X
139
142
141
141
141
141
141
141
141
141
142
143
144
146
148
151
152
153
155
158
163
169
174
179
182
185
186
186
187
184
178
172
166
163
163
163
167
169
173
176
177
177
173
167
158
151
144
140
139
138
133
126
117
110
107
108
111
114
Moving
Average X:
Y
26
28
27
28
29
29
29
29
29
31
34
42
48
55
62
69
74
78
79
80
80
80
79
79
79
79
79
80
81
82
88
96
100
103
105
109
120
131
139
144
147
147
145
141
137
131
127
125
125
128
133
142
149
152
153
152
147
135
139
140.6666667
140.8
141.2
141
141
141
141
141.2
141.6
142.2
143.2
144.6
146.4
148.2
150
151.8
153.8
156.2
159.6
163.8
168.6
173.4
177.8
181.2
183.6
185.2
185.6
184.2
181.4
177.4
172.6
168.4
165.4
164.4
165
167
169.6
172.4
174.4
175.2
174
170.4
165.2
158.6
152
146.4
142.4
138.8
135.2
130.6
124.8
118.6
113.6
110.6
110
111.4
113.6
Moving
Average Y:
26
27
27.6
28.2
28.4
28.8
29
29.4
30.4
33
36.8
42
48.2
55.2
61.6
67.6
72.4
76
78.2
79.4
79.6
79.6
79.4
79.2
79
79.2
79.6
80.2
82
85.4
89.4
93.8
98.4
102.6
107.4
113.6
120.8
128.6
136.2
141.6
144.4
144.8
143.4
140.2
136.2
132.2
129
127.2
127.6
130.6
135.4
140.8
145.8
149.6
150.6
147.8
142.8
136.6
Difference
X:
0
1.333333333
0.2
-0.2
0
0
0
0
-0.2
-0.6
-0.2
-0.2
-0.6
-0.4
-0.2
1
0.2
-0.8
-1.2
-1.6
-0.8
0.4
0.6
1.2
0.8
1.4
0.8
0.4
2.8
2.6
0.6
-0.6
-2.4
-2.4
-1.4
-2
0
-0.6
0.6
1.6
1.8
3
2.6
1.8
-0.6
-1
-2.4
-2.4
0.2
2.8
2.4
1.2
-1.6
-3.6
-3.6
-2
-0.4
0.4
Difference
Y:
0
1
-0.6
-0.2
0.6
0.2
0
-0.4
-1.4
-2
-2.8
0
-0.2
-0.2
0.4
1.4
1.6
2
0.8
0.6
0.4
0.4
-0.4
-0.2
0
-0.2
-0.6
-0.2
-1
-3.4
-1.4
2.2
1.6
0.4
-2.4
-4.6
-0.8
2.4
2.8
2.4
2.6
2.2
1.6
0.8
0.8
-1.2
-2
-2.2
-2.6
-2.6
-2.4
1.2
3.2
2.4
2.4
4.2
4.2
-1.6
Difference X
(abs):
0
1.333333333
0.2
0.2
0
0
0
0
0.2
0.6
0.2
0.2
0.6
0.4
0.2
1
0.2
0.8
1.2
1.6
0.8
0.4
0.6
1.2
0.8
1.4
0.8
0.4
2.8
2.6
0.6
0.6
2.4
2.4
1.4
2
0
0.6
0.6
1.6
1.8
3
2.6
1.8
0.6
1
2.4
2.4
0.2
2.8
2.4
1.2
1.6
3.6
3.6
2
0.4
0.4
Difference Y
(abs):
0
1
0.6
0.2
0.6
0.2
0
0.4
1.4
2
2.8
0
0.2
0.2
0.4
1.4
1.6
2
0.8
0.6
0.4
0.4
0.4
0.2
0
0.2
0.6
0.2
1
3.4
1.4
2.2
1.6
0.4
2.4
4.6
0.8
2.4
2.8
2.4
2.6
2.2
1.6
0.8
0.8
1.2
2
2.2
2.6
2.6
2.4
1.2
3.2
2.4
2.4
4.2
4.2
1.6
Statistics:
Mean:
1.314184397
Maximum:
7
Sum:
247.0666667
RMS:
1.761782356
Mean X:
1.217730496
Mean Y:
1.410638298
Maximum X:
5.2
Maximum Y:
7
Sum X:
114.4666667
Sum Y:
132.6
RMS X:
1.629152269
RMS Y:
1.885103982
117
118
121
123
123
122
121
114
104
99
89
84
81
85
92
99
108
116
122
126
127
127
126
130
133
136
137
139
139
140
139
139
139
140
127
122
114
109
107
105
105
99
91
88
80
77
76
76
78
79
79
79
79
79
78
77
77
65
53
44
40
33
31
30
30
30
31
31
116.2
118.6
120.4
121.4
122
120.6
116.8
112
105.4
98
91.4
87.6
86.2
88.2
93
100
107.4
114.2
119.8
123.6
125.6
127.2
128.6
130.4
132.4
135
136.8
138.2
138.8
139.2
139.2
139.4
139.4
139.8
129
121.4
115.8
111.4
108
105
101.4
97.6
92.6
87
82.4
79.4
77.4
77.2
77.6
78.2
78.8
79
78.8
78.4
78
75.2
70
63.2
55.8
47
40.2
35.6
32.8
30.8
30.4
30.4
30.8
31.4
140
141
32
33
140.3333333
141
32
33
0.8
-0.6
0.6
1.6
1
1.4
4.2
2
-1.4
1
-2.4
-3.6
-5.2
-3.2
-1
-1
0.6
1.8
2.2
2.4
1.4
-0.2
-2.6
-0.4
0.6
1
0.2
0.8
0.2
0.8
-0.2
-0.4
-0.4
0.2
0.333333333
0
-2
0.6
-1.8
-2.4
-1
0
3.6
1.4
-1.6
1
-2.4
-2.4
-1.4
-1.2
0.4
0.8
0.2
0
0.2
0.6
0
1.8
7
1.8
-2.8
-3
-0.2
-2.6
-1.8
-0.8
-0.4
-0.4
0.2
-0.4
0.8
0.6
0.6
1.6
1
1.4
4.2
2
1.4
1
2.4
3.6
5.2
3.2
1
1
0.6
1.8
2.2
2.4
1.4
0.2
2.6
0.4
0.6
1
0.2
0.8
0.2
0.8
0.2
0.4
0.4
0.2
2
0.6
1.8
2.4
1
0
3.6
1.4
1.6
1
2.4
2.4
1.4
1.2
0.4
0.8
0.2
0
0.2
0.6
0
1.8
7
1.8
2.8
3
0.2
2.6
1.8
0.8
0.4
0.4
0.2
0.4
0
0
0.333333333
0
0
0

Raw:
X
140
141
140
141
141
141
141
142
141
142
143
144
145
148
148
153
151
153
156
160
166
172
175
179
182
185
185
185
186
182
174
170
165
164
166
166
171
171
176
177
176
177
170
164
153
150
144
142
143
140
133
124
114
110
111
113
115
118
119
119
122
Moving
Average X:
Y
27
28
27
29
29
29
29
29
30
32
37
46
50
57
63
70
74
77
77
78
78
79
79
79
79
80
80
81
82
83
93
100
100
102
104
110
126
135
140
142
144
144
141
138
134
129
126
127
127
132
138
147
151
151
151
150
142
128
124
124
112
140
140.3333333
140.6
140.8
140.8
141.2
141.2
141.4
141.8
142.4
143
144.4
145.6
147.6
149
150.6
152.2
154.6
157.2
161.4
165.8
170.4
174.8
178.6
181.2
183.2
184.6
184.6
182.4
179.4
175.4
171
167.8
166.2
166.4
167.6
170
172.2
174.2
175.4
175.2
172.8
168
162.8
156.2
150.6
146.4
143.8
140.4
136.4
130.8
124.2
118.4
114.4
112.6
113.4
115.2
116.8
118.6
120.2
121.2
Moving
Average Y:
27
27.33333333
28
28.4
28.6
29
29.2
29.8
31.4
34.8
39
44.4
50.6
57.2
62.8
68.2
72.2
75.2
76.8
77.8
78.2
78.6
78.8
79.2
79.4
79.8
80.4
81.2
83.8
87.8
91.6
95.6
99.8
103.2
108.4
115.4
123
130.6
137.4
141
142.2
141.8
140.2
137.2
133.6
130.8
128.6
128.2
130
134.2
139
143.8
147.6
150
149
144.4
139
133.6
126
119.6
116
Difference X:
0
0.666666667
-0.6
0.2
0.2
-0.2
-0.2
0.6
-0.8
-0.4
0
-0.4
-0.6
0.4
-1
2.4
-1.2
-1.6
-1.2
-1.4
0.2
1.6
0.2
0.4
0.8
1.8
0.4
0.4
3.6
2.6
-1.4
-1
-2.8
-2.2
-0.4
-1.6
1
-1.2
1.8
1.6
0.8
4.2
2
1.2
-3.2
-0.6
-2.4
-1.8
2.6
3.6
2.2
-0.2
-4.4
-4.4
-1.6
-0.4
-0.2
1.2
0.4
-1.2
0.8
Difference Y:
0
0.666666667
-1
0.6
0.4
0
-0.2
-0.8
-1.4
-2.8
-2
1.6
-0.6
-0.2
0.2
1.8
1.8
1.8
0.2
0.2
-0.2
0.4
0.2
-0.2
-0.4
0.2
-0.4
-0.2
-1.8
-4.8
1.4
4.4
0.2
-1.2
-4.4
-5.4
3
4.4
2.6
1
1.8
2.2
0.8
0.8
0.4
-1.8
-2.6
-1.2
-3
-2.2
-1
3.2
3.4
1
2
5.6
3
-5.6
-2
4.4
-4
Difference X
(abs):
0
0.666666667
0.6
0.2
0.2
0.2
0.2
0.6
0.8
0.4
0
0.4
0.6
0.4
1
2.4
1.2
1.6
1.2
1.4
0.2
1.6
0.2
0.4
0.8
1.8
0.4
0.4
3.6
2.6
1.4
1
2.8
2.2
0.4
1.6
1
1.2
1.8
1.6
0.8
4.2
2
1.2
3.2
0.6
2.4
1.8
2.6
3.6
2.2
0.2
4.4
4.4
1.6
0.4
0.2
1.2
0.4
1.2
0.8
Difference Y
(abs):
0
0.666666667
1
0.6
0.4
0
0.2
0.8
1.4
2.8
2
1.6
0.6
0.2
0.2
1.8
1.8
1.8
0.2
0.2
0.2
0.4
0.2
0.2
0.4
0.2
0.4
0.2
1.8
4.8
1.4
4.4
0.2
1.2
4.4
5.4
3
4.4
2.6
1
1.8
2.2
0.8
0.8
0.4
1.8
2.6
1.2
3
2.2
1
3.2
3.4
1
2
5.6
3
5.6
2
4.4
4
Statistics:
Mean:
1.609929078
Maximum:
9.2
Sum:
302.6666667
RMS:
2.231686701
Mean X:
1.44893617
Mean Y:
1.770921986
Maximum X:
5.6
Maximum Y:
9.2
Sum X:
136.2
Sum Y:
166.4666667
RMS X:
1.955231813
RMS Y:
2.477482517
123
123
120
120
109
100
100
86
85
85
92
98
105
112
118
122
125
125
124
124
133
134
136
136
139
139
139
139
139
139
141
141
142
110
110
108
108
97
89
89
79
79
79
80
81
80
80
80
79
79
79
77
77
57
49
43
43
34
34
33
33
33
33
32
33
34
121.4
121.6
119
114.4
109.8
103
96
91.2
89.6
89.2
93
98.4
105
111
116.4
120.4
122.8
124
126.2
128
130.2
132.6
135.6
136.8
137.8
138.4
139
139
139.4
139.8
140.4
141.3333333
142
112.8
109.6
106.6
102.4
98.2
92.4
86.6
83
81.2
79.6
79.8
80
80.2
80
79.6
79.4
78.8
78.2
73.8
67.8
60.6
53.8
45.2
40.6
37.4
35.4
33.4
33.2
32.8
32.8
33
33
34
1.6
1.4
1
5.6
-0.8
-3
4
-5.2
-4.6
-4.2
-1
-0.4
0
1
1.6
1.6
2.2
1
-2.2
-4
2.8
1.4
0.4
-0.8
1.2
0.6
0
0
-0.4
-0.8
0.6
-0.333333333
0
-2.8
0.4
1.4
5.6
-1.2
-3.4
2.4
-4
-2.2
-0.6
0.2
1
-0.2
0
0.4
-0.4
0.2
0.8
3.2
9.2
-3.6
-4.8
-2.2
2.4
-3.4
-1.4
-0.4
-0.2
0.2
0.2
-1
0
0
1.6
1.4
1
5.6
0.8
3
4
5.2
4.6
4.2
1
0.4
0
1
1.6
1.6
2.2
1
2.2
4
2.8
1.4
0.4
0.8
1.2
0.6
0
0
0.4
0.8
0.6
0.333333333
0
2.8
0.4
1.4
5.6
1.2
3.4
2.4
4
2.2
0.6
0.2
1
0.2
0
0.4
0.4
0.2
0.8
3.2
9.2
3.6
4.8
2.2
2.4
3.4
1.4
0.4
0.2
0.2
0.2
1
0
0

160
140
Y-coordinate
120
100
Moving Average
80
Kalman Filter
60
40
20
80
100
120
140
160
180
200
X-coordinate

160
140
Y-coordinate
120
100
Moving Average
80
Raw Data
60
40
20
80
100
120
140
X-coordinate
160
180
200
Trial 4:
Kalman Filter Data:
Kalman:
X
87
90
94
100
107
115
123
128
130
132
134
136
139
142
143
144
144
143
143
145
146
147
149
151
152
153
159
165
173
181
188
194
197
198
198
193
186
178
171
166
163
163
167
171
173
173
170
162
154
145
139
136
133
127
120
112
108
Moving Average
X:
Moving Average
Y:
Difference
X:
Difference
Y:
0
0.333333333
-1.6
-1.2
-0.8
0.4
2.4
2.4
0.6
0
-0.2
-0.6
0.2
1.2
0.6
0.8
0.6
-0.8
-1.2
0.2
0
-0.6
0
0.6
-0.8
-3
-1.4
-1.2
-0.2
0.8
1.4
2.4
2
2
3.6
2.4
0.8
-0.8
-1.8
-2.2
-3
-3
-0.4
1.6
2.2
3.2
3.6
1.2
0
-2.2
-2.4
0
2
1.4
0
-3.4
-4.6
0
0.333333333
0.6
0.8
0.6
1
-0.2
0.4
2.8
3.6
0.6
-0.8
0
-2.6
-2.6
-1
-1.6
-2.4
-3.2
-2.2
-1
0
1.2
2.8
3.2
1.4
0.4
0.4
-0.2
0.2
-0.4
0
0.2
-1.4
-2.4
-2.6
0
0.8
-0.2
-1.4
-2
-2.6
1.8
4.4
4.4
4
1.8
1
0
-2.6
-3
-4.2
-3.4
-0.4
1.8
3.6
6
Difference X
(abs):
Difference Y
(abs):
Y
75
87
75
76
78
79
79
79
77
76
75
71
62
53
46
37
32
30
28
28
30
36
44
53
62
70
75
76
76
76
75
75
74
74
74
73
74
77
84
90
95
100
107
115
128
138
143
144
140
135
129
122
119
118
122
130
138
144
147
90.33333333
95.6
101.2
107.8
114.6
120.6
125.6
129.4
132
134.2
136.6
138.8
140.8
142.4
143.2
143.4
143.8
144.2
144.8
146
147.6
149
150.4
152.8
156
160.4
166.2
173.2
180.2
186.6
191.6
195
196
194.4
190.6
185.2
178.8
172.8
168.2
166
166
167.4
169.4
170.8
169.8
166.4
160.8
154
147.2
141.4
136
131
125.6
120
115.4
112.6
76.33333333
77.4
78.2
78.4
78
77.2
75.6
72.2
67.4
61.4
53.8
46
39.6
34.6
31
29.6
30.4
33.2
38.2
45
53
60.8
67.2
71.8
74.6
75.6
75.6
75.2
74.8
74.4
74
73.8
74.4
76.4
79.6
84
89.2
95.2
101.4
109
117.6
126.2
133.6
138.6
140
138.2
134
129
124.6
122
122.2
125.4
130.4
136.2
140.4
141
0.333333333
1.6
1.2
0.8
0.4
2.4
2.4
0.6
0
0.2
0.6
0.2
1.2
0.6
0.8
0.6
0.8
1.2
0.2
0
0.6
0
0.6
0.8
3
1.4
1.2
0.2
0.8
1.4
2.4
2
2
3.6
2.4
0.8
0.8
1.8
2.2
3
3
0.4
1.6
2.2
3.2
3.6
1.2
0
2.2
2.4
0
2
1.4
0
3.4
4.6
0.333333333
0.6
0.8
0.6
1
0.2
0.4
2.8
3.6
0.6
0.8
0
2.6
2.6
1
1.6
2.4
3.2
2.2
1
0
1.2
2.8
3.2
1.4
0.4
0.4
0.2
0.2
0.4
0
0.2
1.4
2.4
2.6
0
0.8
0.2
1.4
2
2.6
1.8
4.4
4.4
4
1.8
1
0
2.6
3
4.2
3.4
0.4
1.8
3.6
6
Statistics:
Mean:
1.55721393
Maximum:
6
Sum:
208.6666667
RMS:
2.044253362
Mean X:
1.384079602
Mean Y:
1.730348259
Maximum X:
4.6
Maximum Y:
6
Sum X:
92.73333333
Sum Y:
115.9333333
RMS X:
1.791651915
RMS Y:
2.268904368
110
113
117
121
124
122
118
111
103
95
143
133
119
107
99
94
91
87
80
76
112
113.8
117
119.4
120.4
119.2
115.6
109.8
103
95
137.2
129.8
120.2
110.4
102
95.6
90.2
85.6
81
76
-2
-0.8
0
1.6
3.6
2.8
2.4
1.2
0
0
5.8
3.2
-1.2
-3.4
-3
-1.6
0.8
1.4
-1
0
2
0.8
0
1.6
3.6
2.8
2.4
1.2
0
0
5.8
3.2
1.2
3.4
3
1.6
0.8
1.4
1
0

Raw:
X
88
90
94
102
109
117
124
128
127
130
134
136
139
143
142
144
143
142
144
146
146
148
151
152
151
154
162
168
176
183
189
194
195
196
195
189
181
174
170
166
166
166
172
175
174
173
167
158
150
143
139
139
135
127
119
111
110
116
118
121
123
Moving
Average X:
Moving
Average Y:
Difference X:
Difference Y:
Difference X
(abs):
Difference Y
(abs):
Y
76
76
79
79
79
78
76
76
75
70
56
51
46
35
34
34
31
31
33
42
50
57
64
71
74
73
73
74
74
74
74
74
74
74
75
80
89
93
96
101
109
118
133
140
140
139
134
130
125
120
120
120
128
137
142
146
146
138
125
111
103
88
90.66666667
96.6
102.4
109.2
116
121
125.2
128.6
131
133.2
136.4
138.8
140.8
142.2
142.8
143
143.8
144.2
145.2
147
148.6
149.6
151.2
154
157.4
162.2
168.6
175.6
182
187.4
191.4
193.8
193.8
191.2
187
181.8
176
171.4
168.4
168
169
170.6
172
172.2
169.4
164.4
158.2
151.4
145.8
141.2
136.6
131.8
126.2
120.4
116.6
114.8
115.2
117.6
120.6
121.4
76
77
77.8
78.2
78.2
77.6
76.8
75
70.6
65.6
59.6
51.6
44.4
40
36
33
32.6
34.2
37.4
42.6
49.2
56.8
63.2
67.8
71
73
73.6
73.6
73.8
74
74
74
74.2
75.4
78.4
82.2
86.6
91.8
97.6
103.4
111.4
120.2
128
134
137.2
136.6
133.6
129.6
125.8
123
122.6
125
129.4
134.6
139.8
141.8
139.4
133.2
124.6
115.6
107.4
0
-0.666666667
-2.6
-0.4
-0.2
1
3
2.8
-1.6
-1
0.8
-0.4
0.2
2.2
-0.2
1.2
0
-1.8
-0.2
0.8
-1
-0.6
1.4
0.8
-3
-3.4
-0.2
-0.6
0.4
1
1.6
2.6
1.2
2.2
3.8
2
-0.8
-2
-1.4
-2.4
-2
-3
1.4
3
1.8
3.6
2.6
-0.2
-1.4
-2.8
-2.2
2.4
3.2
0.8
-1.4
-5.6
-4.8
0.8
0.4
0.4
1.6
0
-1
1.2
0.8
0.8
0.4
-0.8
1
4.4
4.4
-3.6
-0.6
1.6
-5
-2
1
-1.6
-3.2
-4.4
-0.6
0.8
0.2
0.8
3.2
3
0
-0.6
0.4
0.2
0
0
0
-0.2
-1.4
-3.4
-2.2
2.4
1.2
-1.6
-2.4
-2.4
-2.2
5
6
2.8
2.4
0.4
0.4
-0.8
-3
-2.6
-5
-1.4
2.4
2.2
4.2
6.6
4.8
0.4
-4.6
-4.4
0
0.666666667
2.6
0.4
0.2
1
3
2.8
1.6
1
0.8
0.4
0.2
2.2
0.2
1.2
0
1.8
0.2
0.8
1
0.6
1.4
0.8
3
3.4
0.2
0.6
0.4
1
1.6
2.6
1.2
2.2
3.8
2
0.8
2
1.4
2.4
2
3
1.4
3
1.8
3.6
2.6
0.2
1.4
2.8
2.2
2.4
3.2
0.8
1.4
5.6
4.8
0.8
0.4
0.4
1.6
0
1
1.2
0.8
0.8
0.4
0.8
1
4.4
4.4
3.6
0.6
1.6
5
2
1
1.6
3.2
4.4
0.6
0.8
0.2
0.8
3.2
3
0
0.6
0.4
0.2
0
0
0
0.2
1.4
3.4
2.2
2.4
1.2
1.6
2.4
2.4
2.2
5
6
2.8
2.4
0.4
0.4
0.8
3
2.6
5
1.4
2.4
2.2
4.2
6.6
4.8
0.4
4.6
4.4
Statistics:
Mean:
1.803482587
Maximum:
6.6
Sum:
241.6666667
RMS:
2.34006846
Mean X:
1.617910448
Mean Y:
1.989054726
Maximum X:
5.6
Maximum Y:
6.6
Sum X:
108.4
Sum Y:
133.2666667
RMS X:
2.034266974
RMS Y:
2.610287086
125
120
114
108
99
94
101
97
94
89
79
77
120.6
118
113.2
107
100.3333333
94
101.2
96.8
92
87.2
81.66666667
77
4.4
2
0.8
1
-1.333333333
0
-0.2
0.2
2
1.8
-2.666666667
0
4.4
2
0.8
1
1.333333333
0
0.2
0.2
2
1.8
2.666666667
0

160
140
Y-coordinate
120
100
Moving Average
80
Kalman Filter
60
40
20
80
100
120
140
160
180
200
220
X-coordinate

160
140
Y-coordinate
120
100
Moving Average
80
Raw Data
60
40
20
80
100
120
140
160
X-coordinate
180
200
220
Trial 5:
Kalman Filter Data:
Kalman:
X
136
139
142
145
148
153
160
167
172
176
175
174
169
164
162
162
166
171
178
183
186
191
192
189
183
172
164
158
153
150
150
149
148
145
143
141
141
140
137
131
128
124
122
120
116
109
102
94
87
86
86
90
95
101
108
114
119
121
Moving
Average X:
Y
119
122
122
124
127
130
135
139
141
141
135
132
117
106
101
98
94
91
88
83
80
76
74
74
73
72
72
72
71
71
65
54
41
28
22
20
21
22
34
48
56
69
75
77
77
77
76
75
74
76
77
80
82
86
91
94
98
99
136
139
142
145.4
149.6
154.6
160
165.6
170
172.8
173.2
171.6
168.8
166.2
164.6
165
167.8
172
176.8
181.8
186
188.2
188.2
185.4
180
173.2
166
159.4
155
152
150
148.4
147
145.2
143.6
142
140.4
138
135.4
132
128.4
125
122
118.2
113.8
108.2
101.6
95.6
91
88.6
88.8
91.6
96
101.6
107.4
112.6
116.6
119.2
Moving
Average Y:
119
121
122.8
125
127.6
131
134.4
137.2
138.2
137.6
133.2
126.2
118.2
110.8
103.2
98
94.4
90.8
87.2
83.6
80.2
77.4
75.4
73.8
73
72.6
72
71.6
70.2
66.6
60.4
51.8
42
33
26.4
22.6
23.8
29
36.2
45.8
56.4
65
70.8
75
76.4
76.4
75.8
75.6
75.6
76.4
77.8
80.2
83.2
86.6
90.2
93.6
96.8
99.2
Difference X:
0
0
0
-0.4
-1.6
-1.6
0
1.4
2
3.2
1.8
2.4
0.2
-2.2
-2.6
-3
-1.8
-1
1.2
1.2
0
2.8
3.8
3.6
3
-1.2
-2
-1.4
-2
-2
0
0.6
1
-0.2
-0.6
-1
0.6
2
1.6
-1
-0.4
-1
0
1.8
2.2
0.8
0.4
-1.6
-4
-2.6
-2.8
-1.6
-1
-0.6
0.6
1.4
2.4
1.8
Difference Y:
0
1
-0.8
-1
-0.6
-1
0.6
1.8
2.8
3.4
1.8
5.8
-1.2
-4.8
-2.2
0
-0.4
0.2
0.8
-0.6
-0.2
-1.4
-1.4
0.2
0
-0.6
0
0.4
0.8
4.4
4.6
2.2
-1
-5
-4.4
-2.6
-2.8
-7
-2.2
2.2
-0.4
4
4.2
2
0.6
0.6
0.2
-0.6
-1.6
-0.4
-0.8
-0.2
-1.2
-0.6
0.8
0.4
1.2
-0.2
Difference X
(abs):
Difference Y
(abs):
0
0
0
0.4
1.6
1.6
0
1.4
2
3.2
1.8
2.4
0.2
2.2
2.6
3
1.8
1
1.2
1.2
0
2.8
3.8
3.6
3
1.2
2
1.4
2
2
0
0.6
1
0.2
0.6
1
0.6
2
1.6
1
0.4
1
0
1.8
2.2
0.8
0.4
1.6
4
2.6
2.8
1.6
1
0.6
0.6
1.4
2.4
1.8
0
1
0.8
1
0.6
1
0.6
1.8
2.8
3.4
1.8
5.8
1.2
4.8
2.2
0
0.4
0.2
0.8
0.6
0.2
1.4
1.4
0.2
0
0.6
0
0.4
0.8
4.4
4.6
2.2
1
5
4.4
2.6
2.8
7
2.2
2.2
0.4
4
4.2
2
0.6
0.6
0.2
0.6
1.6
0.4
0.8
0.2
1.2
0.6
0.8
0.4
1.2
0.2
Statistics:
Mean:
1.572972973
Maximum:
7.2
Sum:
232.8
RMS:
2.100507589
Mean X:
1.436936937
Mean Y:
1.709009009
Maximum X:
4
Maximum Y:
7.2
Sum X:
106.3333333
Sum Y:
126.4666667
RMS X:
1.765246752
RMS Y:
2.389177299
121
121
116
112
109
107
106
107
108
112
121
127
136
142
145
147
102
103
118
129
139
145
150
153
151
147
140
135
128
123
121
121
119.6
118.2
115.8
113
110
108.2
107.4
108
110.8
115
120.8
127.6
134.2
139.4
144.6666667
147
104
110.2
118.2
126.8
136.2
143.2
147.6
149.2
148.2
145.2
140.2
134.6
129.4
125.6
121.6666667
121
1.4
2.8
0.2
-1
-1
-1.2
-1.4
-1
-2.8
-3
0.2
-0.6
1.8
2.6
0.333333333
0
-2
-7.2
-0.2
2.2
2.8
1.8
2.4
3.8
2.8
1.8
-0.2
0.4
-1.4
-2.6
-0.666666667
0
1.4
2.8
0.2
1
1
1.2
1.4
1
2.8
3
0.2
0.6
1.8
2.6
0.333333333
0
2
7.2
0.2
2.2
2.8
1.8
2.4
3.8
2.8
1.8
0.2
0.4
1.4
2.6
0.666666667
0

Raw:
X
137
138
142
145
149
154
163
168
173
175
172
172
164
162
163
164
171
175
182
185
185
192
190
185
178
166
162
158
154
152
154
151
150
144
144
142
142
142
135
129
129
124
123
121
116
107
100
92
87
90
91
95
99
105
111
116
119
120
119
119
112
Moving
Average X:
Y
120
121
122
125
127
132
137
139
140
140
130
130
108
104
103
102
96
93
89
82
82
76
76
76
75
73
73
73
72
71
62
49
35
25
25
26
26
26
45
57
57
73
73
73
73
75
74
74
74
77
79
81
84
88
93
95
98
98
102
102
128
137
139
142.2
145.6
150.6
155.8
161.4
166.6
170.2
172
171.2
169
166.6
165
164.8
167
171
175.4
179.6
183.8
186.8
187.4
186
182.2
176.2
169.8
163.6
158.4
156
153.8
152.2
150.2
148.6
146.2
144.4
142.8
141
138
135.4
131.8
128
125.2
122.6
118.2
113.4
107.2
100.4
95.2
92
91
92.4
96
100.2
105.2
110
114.2
117
118.6
117.8
116
113.6
Moving
Average Y:
120
121
123
125.4
128.6
132
135
137.6
137.2
135.8
129.6
122.4
115
109.4
102.6
99.6
96.6
92.4
88.4
84.4
81
78.4
77
75.2
74.6
74
73.2
72.4
70.2
65.4
57.8
48.4
39.2
32
27.4
25.6
29.6
36
42.2
51.6
61
66.6
69.8
73.4
73.6
73.8
74
74.8
75.6
77
79
81.8
85
88.2
91.6
94.4
97.2
99
105.6
112.6
121.2
Difference X:
0
-1
-0.2
-0.6
-1.6
-1.8
1.6
1.4
2.8
3
0.8
3
-2.6
-3
-1.8
-3
0
-0.4
2.4
1.2
-1.8
4.6
4
2.8
1.8
-3.8
-1.6
-0.4
-2
-1.8
1.8
0.8
1.4
-2.2
-0.4
-0.8
1
4
-0.4
-2.8
1
-1.2
0.4
2.8
2.6
-0.2
-0.4
-3.2
-5
-1
-1.4
-1
-1.2
-0.2
1
1.8
2
1.4
1.2
3
-1.6
Difference Y:
0
0
-1
-0.4
-1.6
0
2
1.4
2.8
4.2
0.4
7.6
-7
-5.4
0.4
2.4
-0.6
0.6
0.6
-2.4
1
-2.4
-1
0.8
0.4
-1
-0.2
0.6
1.8
5.6
4.2
0.6
-4.2
-7
-2.4
0.4
-3.6
-10
2.8
5.4
-4
6.4
3.2
-0.4
-0.6
1.2
0
-0.8
-1.6
0
0
-0.8
-1
-0.2
1.4
0.6
0.8
-1
-3.6
-10.6
6.8
Difference X
(abs):
0
1
0.2
0.6
1.6
1.8
1.6
1.4
2.8
3
0.8
3
2.6
3
1.8
3
0
0.4
2.4
1.2
1.8
4.6
4
2.8
1.8
3.8
1.6
0.4
2
1.8
1.8
0.8
1.4
2.2
0.4
0.8
1
4
0.4
2.8
1
1.2
0.4
2.8
2.6
0.2
0.4
3.2
5
1
1.4
1
1.2
0.2
1
1.8
2
1.4
1.2
3
1.6
Difference Y
(abs):
0
0
1
0.4
1.6
0
2
1.4
2.8
4.2
0.4
7.6
7
5.4
0.4
2.4
0.6
0.6
0.6
2.4
1
2.4
1
0.8
0.4
1
0.2
0.6
1.8
5.6
4.2
0.6
4.2
7
2.4
0.4
3.6
10
2.8
5.4
4
6.4
3.2
0.4
0.6
1.2
0
0.8
1.6
0
0
0.8
1
0.2
1.4
0.6
0.8
1
3.6
10.6
6.8
Statistics:
Mean:
1.95990991
Maximum:
10.6
Sum:
290.0666667
RMS:
2.717240032
Mean X:
1.699099099
Mean Y:
2.220720721
Maximum X:
5
Maximum Y:
10.6
Sum X:
125.7333333
Sum Y:
164.3333333
RMS X:
2.047249675
RMS Y:
3.252007927
110
108
108
107
109
110
116
126
129
139
142
144
145
133
141
143
149
150
147
142
136
133
125
123
123
124
111.4
109
108.4
108.4
110
113.6
118
124
130.4
136
139.8
143.6666667
145
129.4
138.8
143.2
146
146.2
144.8
141.6
136.6
131.8
128
125.6
123.3333333
124
-1.4
-1
-0.4
-1.4
-1
-3.6
-2
2
-1.4
3
2.2
0.333333333
0
3.6
2.2
-0.2
3
3.8
2.2
0.4
-0.6
1.2
-3
-2.6
-0.333333333
0
1.4
1
0.4
1.4
1
3.6
2
2
1.4
3
2.2
0.333333333
0
3.6
2.2
0.2
3
3.8
2.2
0.4
0.6
1.2
3
2.6
0.333333333
0

160
140
Y-coordinate
120
100
Moving Average
80
Kalman Filter
60
40
20
80
100
120
140
160
180
200
X-coordinate

160
140
Y-coordinate
120
100
Moving Average
80
Raw Data
60
40
20
80
100
120
140
X-coordinate
160
180
200
Triangle 1:
Trial 1:
Kalman Filter Data:
Kalman:
X
106
104
103
103
103
104
105
106
106
108
109
112
114
118
123
127
133
138
144
149
154
160
165
171
177
183
189
192
194
192
191
186
183
177
171
167
163
158
154
150
147
145
141
140
138
137
137
137
137
136
134
130
126
123
119
117
113
109
Moving
Average X:
Y
122
129
130
130
128
130
129
130
130
132
134
135
137
138
139
138
138
138
137
136
135
134
133
132
132
131
130
130
129
129
127
123
121
113
105
97
90
83
75
67
60
52
45
42
41
43
44
46
51
53
63
74
83
89
96
99
106
111
106
104.3333333
103.8
103.4
103.6
104.2
104.8
105.8
106.8
108.2
109.8
112.2
115.2
118.8
123
127.8
133
138.2
143.6
149
154.4
159.8
165.4
171.2
177
182.4
187
190
191.6
191
189.2
185.8
181.6
176.8
172.2
167.2
162.6
158.4
154.4
150.8
147.4
144.6
142.2
140.2
138.6
137.8
137.2
136.8
136.2
134.8
132.6
129.8
126.4
123
119.6
116.2
113
109.8
Moving
Average Y:
122
127
127.8
129.4
129.4
129.4
129.4
130.2
131
132.2
133.6
135.2
136.6
137.4
138
138.2
138
137.4
136.8
136
135
134
133.2
132.4
131.6
131
130.4
129.8
129
127.6
125.8
122.6
117.8
111.8
105.2
97.6
90
82.4
75
67.4
59.8
53.2
48
44.6
43
43.2
45
47.4
51.4
57.4
64.8
72.4
81
88.2
94.6
100.2
105
109.8
Difference X:
0
-0.333333333
-0.8
-0.4
-0.6
-0.2
0.2
0.2
-0.8
-0.2
-0.8
-0.2
-1.2
-0.8
0
-0.8
0
-0.2
0.4
0
-0.4
0.2
-0.4
-0.2
0
0.6
2
2
2.4
1
1.8
0.2
1.4
0.2
-1.2
-0.2
0.4
-0.4
-0.4
-0.8
-0.4
0.4
-1.2
-0.2
-0.6
-0.8
-0.2
0.2
0.8
1.2
1.4
0.2
-0.4
0
-0.6
0.8
0
-0.8
Difference Y:
0
2
2.2
0.6
-1.4
0.6
-0.4
-0.2
-1
-0.2
0.4
-0.2
0.4
0.6
1
-0.2
0
0.6
0.2
0
0
0
-0.2
-0.4
0.4
0
-0.4
0.2
0
1.4
1.2
0.4
3.2
1.2
-0.2
-0.6
0
0.6
0
-0.4
0.2
-1.2
-3
-2.6
-2
-0.2
-1
-1.4
-0.4
-4.4
-1.8
1.6
2
0.8
1.4
-1.2
1
1.2
Difference X
(abs):
0
0.333333333
0.8
0.4
0.6
0.2
0.2
0.2
0.8
0.2
0.8
0.2
1.2
0.8
0
0.8
0
0.2
0.4
0
0.4
0.2
0.4
0.2
0
0.6
2
2
2.4
1
1.8
0.2
1.4
0.2
1.2
0.2
0.4
0.4
0.4
0.8
0.4
0.4
1.2
0.2
0.6
0.8
0.2
0.2
0.8
1.2
1.4
0.2
0.4
0
0.6
0.8
0
0.8
Difference Y
(abs):
0
2
2.2
0.6
1.4
0.6
0.4
0.2
1
0.2
0.4
0.2
0.4
0.6
1
0.2
0
0.6
0.2
0
0
0
0.2
0.4
0.4
0
0.4
0.2
0
1.4
1.2
0.4
3.2
1.2
0.2
0.6
0
0.6
0
0.4
0.2
1.2
3
2.6
2
0.2
1
1.4
0.4
4.4
1.8
1.6
2
0.8
1.4
1.2
1
1.2
Statistics:
Mean:
0.731343284
Maximum:
4.4
Sum:
98
RMS:
1.044006824
Mean X:
0.580099502
Mean Y:
0.882587065
Maximum X:
2.4
Maximum Y:
4.4
Sum X:
38.86666667
Sum Y:
59.13333333
RMS X:
0.783621732
RMS Y:
1.25133428
107
103
101
98
97
96
97
97
98
113
120
126
131
135
136
137
137
136
106.6
103.6
101.2
99
97.8
97
97
97.33333333
98
115.2
120.2
125
129.6
133
135.2
136.2
136.6666667
136
0.4
-0.6
-0.2
-1
-0.8
-1
0
-0.333333333
0
-2.2
-0.2
1
1.4
2
0.8
0.8
0.333333333
0
0.4
0.6
0.2
1
0.8
1
0
0.333333333
0
2.2
0.2
1
1.4
2
0.8
0.8
0.333333333
0

Raw:
X
106
105
103
104
104
106
105
107
106
110
110
114
115
119
125
129
134
139
146
149
154
161
166
171
179
184
189
191
192
189
189
182
182
175
169
168
164
158
155
150
149
146
142
141
139
139
139
139
137
137
133
129
125
123
119
119
112
109
109
103
102
Moving
Average X:
Y
123
129
129
129
127
131
129
131
130
134
135
136
137
138
139
138
138
138
136
136
135
134
134
132
133
131
131
130
130
129
127
121
121
110
102
96
90
83
74
68
61
51
47
45
46
47
47
49
54
54
70
78
85
89
96
96
107
111
111
123
126
106
104.6666667
104.4
104.4
104.4
105.2
105.6
106.8
107.6
109.4
111
113.6
116.6
120.4
124.4
129.2
134.6
139.4
144.4
149.8
155.2
160.2
166.2
172.2
177.8
182.8
187
189
190
188.6
186.8
183.4
179.4
175.2
171.6
166.8
162.8
159
155.2
151.6
148.4
145.6
143.4
141.4
140
139.4
138.6
138.2
137
135
132.2
129.4
125.8
123
119.6
116.4
113.6
110.4
107
104.4
102.2
Moving
Average Y:
123
127
127.4
129
129
129.4
129.6
131
131.8
133.2
134.4
136
137
137.6
138
138.2
137.8
137.2
136.6
135.8
135
134.2
133.6
132.8
132.2
131.4
131
130.2
129.4
127.4
125.6
121.6
116.2
110
103.8
96.2
89
82.2
75.2
67.4
60.2
54.4
50
47.2
46.4
46.8
48.6
50.2
54.8
61
68.2
75.2
83.6
88.8
94.6
99.8
104.2
109.6
115.6
120.6
125.4
Difference
X:
0
0.333333333
-1.4
-0.4
-0.4
0.8
-0.6
0.2
-1.6
0.6
-1
0.4
-1.6
-1.4
0.6
-0.2
-0.6
-0.4
1.6
-0.8
-1.2
0.8
-0.2
-1.2
1.2
1.2
2
2
2
0.4
2.2
-1.4
2.6
-0.2
-2.6
1.2
1.2
-1
-0.2
-1.6
0.6
0.4
-1.4
-0.4
-1
-0.4
0.4
0.8
0
2
0.8
-0.4
-0.8
0
-0.6
2.6
-1.6
-1.4
2
-1.4
-0.2
Difference
Y:
0
2
1.6
0
-2
1.6
-0.6
0
-1.8
0.8
0.6
0
0
0.4
1
-0.2
0.2
0.8
-0.6
0.2
0
-0.2
0.4
-0.8
0.8
-0.4
0
-0.2
0.6
1.6
1.4
-0.6
4.8
0
-1.8
-0.2
1
0.8
-1.2
0.6
0.8
-3.4
-3
-2.2
-0.4
0.2
-1.6
-1.2
-0.8
-7
1.8
2.8
1.4
0.2
1.4
-3.8
2.8
1.4
-4.6
2.4
0.6
Difference X
(abs):
0
0.333333333
1.4
0.4
0.4
0.8
0.6
0.2
1.6
0.6
1
0.4
1.6
1.4
0.6
0.2
0.6
0.4
1.6
0.8
1.2
0.8
0.2
1.2
1.2
1.2
2
2
2
0.4
2.2
1.4
2.6
0.2
2.6
1.2
1.2
1
0.2
1.6
0.6
0.4
1.4
0.4
1
0.4
0.4
0.8
0
2
0.8
0.4
0.8
0
0.6
2.6
1.6
1.4
2
1.4
0.2
Difference Y
(abs):
0
2
1.6
0
2
1.6
0.6
0
1.8
0.8
0.6
0
0
0.4
1
0.2
0.2
0.8
0.6
0.2
0
0.2
0.4
0.8
0.8
0.4
0
0.2
0.6
1.6
1.4
0.6
4.8
0
1.8
0.2
1
0.8
1.2
0.6
0.8
3.4
3
2.2
0.4
0.2
1.6
1.2
0.8
7
1.8
2.8
1.4
0.2
1.4
3.8
2.8
1.4
4.6
2.4
0.6
Statistics:
Mean:
1.085572139
Maximum:
7
Sum:
145.4666667
RMS:
1.511701182
Mean X:
0.951243781
Mean Y:
1.219900498
Maximum X:
2.6
Maximum Y:
7
Sum X:
63.73333333
Sum Y:
81.73333333
RMS X:
1.173279058
RMS Y:
1.787147778
99
98
98
99
99
99
132
135
134
136
136
135
100
99.2
98.6
98.6
99
99
130
132.6
134.6
135.2
135.6666667
135
-1
-1.2
-0.6
0.4
0
0
2
2.4
-0.6
0.8
0.333333333
0
1
1.2
0.6
0.4
0
0
2
2.4
0.6
0.8
0.333333333
0
Triangle 1 Trial 1 Kalman Filter

140
120
Y-coordinate
100
80
Moving Average
Kalman Filter
60
40
20
80
100
120
140
160
180
200
X-coordinate
Triangle 1 Trial 1 Raw Measurement

140
120
Y-coordinate
100
80
Moving Average
Raw Data
60
40
20
80
100
120
140
X-coordinate
160
180
200
Trial 2:
Kalman Filter Data:
Kalman:
X
143
146
145
144
140
136
134
130
127
124
123
121
121
118
116
113
112
110
106
103
102
100
100
101
102
106
113
121
128
138
149
159
166
174
181
186
188
188
183
176
170
165
159
154
149
144
141
141
140
Y
40
42
42
43
46
49
54
61
68
75
81
85
89
92
94
101
107
114
122
127
130
134
135
136
137
137
137
138
138
139
139
138
137
135
134
132
131
126
114
100
91
83
72
60
49
42
39
40
41
Moving
Average X:
Moving
Average Y:
Difference
X:
Difference
Y:
Difference X
(abs):
Difference Y
(abs):
143
144.6666667
143.6
142.2
139.8
136.8
133.4
130.2
127.6
125
123.2
121.4
119.8
117.8
116
113.8
111.4
108.8
106.6
104.2
102.2
101.2
101
101.8
104.4
108.6
114
121.2
129.8
139
148
157.2
165.8
173.2
179
183.4
185.2
184.2
181
176.4
170.6
164.8
159.4
154.2
149.4
145.8
143
140.6666667
140
40
41.33333333
42.6
44.4
46.8
50.6
55.6
61.4
67.8
74
79.6
84.4
88.2
92.2
96.6
101.6
107.6
114.2
120
125.4
129.6
132.4
134.4
135.8
136.4
137
137.4
137.8
138.2
138.4
138.2
137.6
136.6
135.2
133.8
131.6
127.4
120.6
112.4
102.8
92
81.2
71
61.2
52.4
46
42.2
40
41
0
1.333333333
1.4
1.8
0.2
-0.8
0.6
-0.2
-0.6
-1
-0.2
-0.4
1.2
0.2
0
-0.8
0.6
1.2
-0.6
-1.2
-0.2
-1.2
-1
-0.8
-2.4
-2.6
-1
-0.2
-1.8
-1
1
1.8
0.2
0.8
2
2.6
2.8
3.8
2
-0.4
-0.6
0.2
-0.4
-0.2
-0.4
-1.8
-2
0.333333333
0
0
0.666666667
-0.6
-1.4
-0.8
-1.6
-1.6
-0.4
0.2
1
1.4
0.6
0.8
-0.2
-2.6
-0.6
-0.6
-0.2
2
1.6
0.4
1.6
0.6
0.2
0.6
0
-0.4
0.2
-0.2
0.6
0.8
0.4
0.4
-0.2
0.2
0.4
3.6
5.4
1.6
-2.8
-1
1.8
1
-1.2
-3.4
-4
-3.2
0
0
0
1.333333333
1.4
1.8
0.2
0.8
0.6
0.2
0.6
1
0.2
0.4
1.2
0.2
0
0.8
0.6
1.2
0.6
1.2
0.2
1.2
1
0.8
2.4
2.6
1
0.2
1.8
1
1
1.8
0.2
0.8
2
2.6
2.8
3.8
2
0.4
0.6
0.2
0.4
0.2
0.4
1.8
2
0.333333333
0
0
0.666666667
0.6
1.4
0.8
1.6
1.6
0.4
0.2
1
1.4
0.6
0.8
0.2
2.6
0.6
0.6
0.2
2
1.6
0.4
1.6
0.6
0.2
0.6
0
0.4
0.2
0.2
0.6
0.8
0.4
0.4
0.2
0.2
0.4
3.6
5.4
1.6
2.8
1
1.8
1
1.2
3.4
4
3.2
0
0
Statistics:
Mean:
1.070748299
Maximum:
5.4
Sum:
104.9333333
RMS:
1.483147967
Mean X:
1.017687075
Mean Y:
1.123809524
Maximum X:
3.8
Maximum Y:
5.4
Sum X:
49.86666667
Sum Y:
55.06666667
RMS X:
1.328562895
RMS Y:
1.62307622

Raw:
X
144
145
144
143
139
135
134
130
127
125
125
122
122
117
117
113
114
110
105
104
103
101
102
103
104
109
118
124
130
142
152
160
165
175
180
184
186
184
177
172
167
164
159
154
149
145
143
144
142
Moving
Average X:
Moving
Average Y:
Difference
X:
Difference
Y:
0
0.666666667
1
1.8
0
-1.2
1
-0.2
-1.2
-0.8
0.8
-0.2
1.4
-1.2
0.4
-1.2
2.2
0.8
-2.2
-0.6
0
-1.6
-0.6
-0.8
-3.2
-2.6
1
-0.6
-3.2
0.4
2.2
1.2
-1.4
2.2
2
2.2
3.8
3.4
-0.2
-0.8
-0.8
0.8
0.4
-0.2
-1
-2
-1.6
1
0
0
0.333333333
-1.2
-1.2
-1.2
-1.6
-1
0.2
1.2
0.8
1
-0.2
0.6
-0.2
-5
2.4
-1
0.2
3.4
0.4
-0.2
1.8
0.8
-0.6
0.6
-0.2
0
0.2
-0.2
1.6
0
0.8
0
-1
0.4
2
5.2
5.2
-1.4
-6
1.4
4.4
0.4
-3.4
-4.6
-3.6
-1
0.666666667
0
Difference X
(abs):
Difference Y
(abs):
Y
41
42
42
44
47
51
57
64
71
76
81
84
88
92
92
105
108
116
124
126
129
133
134
134
136
136
137
138
138
140
138
138
136
134
134
133
131
123
108
94
91
84
71
58
49
45
45
46
45
144
144.3333333
143
141.2
139
136.2
133
130.2
128.2
125.8
124.2
122.2
120.6
118.2
116.6
114.2
111.8
109.2
107.2
104.6
103
102.6
102.6
103.8
107.2
111.6
117
124.6
133.2
141.6
149.8
158.8
166.4
172.8
178
181.8
182.2
180.6
177.2
172.8
167.8
163.2
158.6
154.2
150
147
144.6
143
142
41
41.66666667
43.2
45.2
48.2
52.6
58
63.8
69.8
75.2
80
84.2
87.4
92.2
97
102.6
109
115.8
120.6
125.6
129.2
131.2
133.2
134.6
135.4
136.2
137
137.8
138.2
138.4
138
137.2
136
135
133.6
131
125.8
117.8
109.4
100
89.6
79.6
70.6
61.4
53.6
48.6
46
45.33333333
45
0
0.666666667
1
1.8
0
1.2
1
0.2
1.2
0.8
0.8
0.2
1.4
1.2
0.4
1.2
2.2
0.8
2.2
0.6
0
1.6
0.6
0.8
3.2
2.6
1
0.6
3.2
0.4
2.2
1.2
1.4
2.2
2
2.2
3.8
3.4
0.2
0.8
0.8
0.8
0.4
0.2
1
2
1.6
1
0
0
0.333333333
1.2
1.2
1.2
1.6
1
0.2
1.2
0.8
1
0.2
0.6
0.2
5
2.4
1
0.2
3.4
0.4
0.2
1.8
0.8
0.6
0.6
0.2
0
0.2
0.2
1.6
0
0.8
0
1
0.4
2
5.2
5.2
1.4
6
1.4
4.4
0.4
3.4
4.6
3.6
1
0.666666667
0
Statistics:
Mean:
1.33537415
Maximum:
6
Sum:
130.8666667
RMS:
1.877362457
Mean X:
1.22585034
Mean Y:
1.444897959
Maximum X:
3.8
Maximum Y:
6
Sum X:
60.06666667
Sum Y:
70.8
RMS X:
1.542357356
RMS Y:
2.161044511

140
120
Y-coordinate
100
80
Moving Average
Kalman Filter
60
40
20
80
100
120
140
160
180
200
X-coordinate

140
120
Y-coordinate
100
80
Moving Average
Raw Data
60
40
20
80
100
120
140
X-coordinate
160
180
200
Trial 3:
Kalman Filter Data:
Kalman:
X
Moving
Average X:
Moving
Average Y:
Difference
X:
Difference
Y:
Difference X
(abs):
Difference Y
(abs):
Statistics:
Mean:
134
138
26
30
134
136.6666667
26
29.33333333
0
1.333333333
0
0.666666667
0
1.333333333
0
0.666666667
1.177777778
138
139
136
32
33
39
137
137
135.6
32
35.6
40
1
2
0.4
0
-2.6
-1
1
2
0.4
0
2.6
1
Maximum:
6.2
134
131
44
52
133.6
130.6
45.6
53.2
0.4
0.4
-1.6
-1.2
0.4
0.4
1.6
1.2
Sum:
98.93333333
128
124
121
60
71
81
127.6
124.2
120.8
61.6
70.6
79.4
0.4
-0.2
0.2
-1.6
0.4
1.6
0.4
0.2
0.2
1.6
0.4
1.6
RMS:
1.675279334
117
114
89
96
117
113.6
88
95
0
0.4
1
1
0
0.4
1
1
109
107
103
106
109.8
106.2
102.6
110.8
-0.8
0.8
0.4
-4.8
0.8
0.8
0.4
4.8
1.052380952
102
99
98
119
130
138
103
100.6
98.8
119.2
126.6
133.4
-1
-1.6
-0.8
-0.2
3.4
4.6
1
1.6
0.8
0.2
3.4
4.6
Mean Y:
1.303174603
97
98
140
140
98.8
101.2
137.4
139
-1.8
-3.2
2.6
1
1.8
3.2
2.6
1
Maximum X:
3.4
102
111
119
139
138
137
105.4
111.4
118.4
138.8
138
137
-3.4
-0.4
0.6
0.2
0
0
3.4
0.4
0.6
0.2
0
0
Maximum Y:
6.2
127
133
136
135
126.2
133.6
136.4
136
0.8
-0.6
-0.4
-1
0.8
0.6
0.4
1
Sum X:
141
148
136
136
141.2
148.8
135.6
135.4
-0.2
-0.8
0.4
0.6
0.2
0.8
0.4
0.6
44.2
157
165
172
135
135
134
156.6
164
170.6
135.2
134.6
134
0.4
1
1.4
-0.2
0.4
0
0.4
1
1.4
0.2
0.4
0
Sum Y:
54.73333333
178
181
133
133
175.6
178.8
132.8
130
2.4
2.2
0.2
3
2.4
2.2
0.2
3
RMS X:
1.381012588
182
181
129
121
180.2
179
126.6
120
1.8
2
2.4
1
1.8
2
2.4
1
RMS Y:
179
172
164
117
100
87
175.6
170.6
165
110.8
100
89
3.4
1.4
-1
6.2
0
-2
3.4
1.4
1
6.2
0
2
157
153
75
66
158.8
153.2
77
66.8
-1.8
-0.2
-2
-0.8
1.8
0.2
2
0.8
148
144
57
49
148.4
144.6
58.2
51.4
1.2
2.4
44
41
140.6666667
138
44.66666667
41
-1.2
-2.4
0.666666667
0
0.4
0.6
140
138
-0.4
-0.6
0.666666667
0
0.666666667
0
0.666666667
0
Mean X:
1.925078161

Raw:
X
Moving Average
X:
Moving Average
Y:
Difference X:
Difference Y:
Difference X
(abs):
Difference Y
(abs):
Statistics:
Mean:
135
27
135
27
137
30
136.6666667
29.66666667
0.333333333
0.333333333
0.333333333
0.333333333
138
32
136.6
32.8
1.4
-0.8
1.4
0.8
138
33
136
36.6
-3.6
3.6
135
42
134.8
41.4
0.2
0.6
0.2
0.6
132
46
132.6
47.6
-0.6
-1.6
0.6
1.6
131
54
129.8
55.8
1.2
-1.8
1.2
1.8
127
63
126.8
64
0.2
-1
0.2
124
74
123.8
72.6
0.2
1.4
0.2
1.4
120
83
120.4
80.8
-0.4
2.2
0.4
2.2
117
89
116.8
88.8
0.2
0.2
0.2
0.2
114
95
113.8
94.6
0.2
0.4
0.2
0.4
109
103
110
103
-1
109
103
106.6
111.6
2.4
-8.6
2.4
8.6
101
125
103.8
120
-2.8
2.8
100
132
101.8
126.6
-1.8
5.4
1.8
5.4
100
137
100
133
99
136
101
135.2
-2
0.8
0.8
100
135
104.6
136
-4.6
-1
4.6
106
136
109
135.8
-3
0.2
0.2
118
136
115
135.8
0.2
0.2
122
136
121.8
135.8
0.2
0.2
0.2
0.2
129
136
129.2
136
-0.2
0.2
134
135
135.2
136
-1.2
-1
1.2
143
137
142.6
135.8
0.4
1.2
0.4
1.2
148
136
150
135.6
-2
0.4
0.4
159
135
157.6
135.4
1.4
-0.4
1.4
0.4
166
135
164.4
134.8
1.6
0.2
1.6
0.2
172
134
170.4
134.4
1.6
-0.4
1.6
0.4
177
134
174.6
132.6
2.4
1.4
2.4
1.4
178
134
176.8
129
1.2
1.2
180
126
177.8
125.6
2.2
0.4
2.2
0.4
177
117
175.6
117
1.4
1.4
177
117
172
107
10
10
166
91
167.2
96.6
-1.2
-5.6
1.2
5.6
160
84
162.6
86.8
-2.6
-2.8
2.6
2.8
156
74
157
75.2
-1
-1.2
1.2
154
68
152.8
67.2
1.2
0.8
1.2
0.8
149
59
149
59.8
-0.8
0.8
145
51
145.8
54
-0.8
-3
0.8
141
47
142
47.66666667
-1
-0.666666667
0.666666667
140
45
140
45
1.556349206
Maximum:
10
Sum:
130.7333333
RMS:
2.411447566
Mean X:
1.336507937
Mean Y:
1.776190476
Maximum X:
5
Maximum Y:
10
Sum X:
56.13333333
Sum Y:
74.6
RMS X:
1.781325825
RMS Y:
2.908098526

140
120
Y-coordinate
100
80
Moving Average
Kalman Filter
60
40
20
80
100
120
140
160
180
200
X-coordinate

140
120
Y-coordinate
100
80
Moving Average
Raw Data
60
40
20
80
100
120
140
X-coordinate
160
180
200
Trial 4:
Kalman Filter Data:
Kalman:
X
104
102
101
102
102
102
102
102
102
101
100
101
104
110
120
129
140
149
157
165
171
176
179
182
184
184
181
179
177
171
166
159
156
152
148
146
144
144
141
140
138
134
129
126
122
119
117
115
112
109
107
103
Moving
Average X:
Y
136
141
143
141
140
140
139
139
139
139
137
136
135
134
134
134
134
133
132
132
131
131
130
128
127
125
122
117
115
104
90
78
70
62
55
49
43
40
38
39
42
49
61
70
77
85
92
102
113
123
130
137
104
102.3333333
102.2
101.8
101.8
102
102
101.8
101.4
101.2
101.6
103.2
107
112.8
120.6
129.6
139
148
156.4
163.6
169.6
174.6
178.4
181
182
182
181
178.4
174.8
170.4
165.8
160.8
156.2
152.2
149.2
146.8
144.6
143
141.4
139.4
136.4
133.4
129.8
126
122.6
119.8
117
114.4
112
109.2
106.3333333
103
Moving
Average Y:
136
140
140.2
141
140.6
139.8
139.4
139.2
138.6
138
137.2
136.2
135.2
134.6
134.2
133.8
133.4
133
132.4
131.8
131.2
130.4
129.4
128.2
126.4
123.8
121.2
116.6
109.6
100.8
91.4
80.8
71
62.8
55.8
49.8
45
41.8
40.4
41.6
45.8
52.2
59.8
68.4
77
85.2
93.8
103
112
121
130
137
Difference X:
Difference
Y:
0
-0.333333333
-1.2
0.2
0.2
0
0
0.2
0.6
-0.2
-1.6
-2.2
-3
-2.8
-0.6
-0.6
1
1
0.6
1.4
1.4
1.4
0.6
1
2
2
0
0.6
2.2
0.6
0.2
-1.8
-0.2
-0.2
-1.2
-0.8
-0.6
1
-0.4
0.6
1.6
0.6
-0.8
0
-0.6
-0.8
0
0.6
0
-0.2
0.666666667
0
0
1
2.8
0
-0.6
0.2
-0.4
-0.2
0.4
1
-0.2
-0.2
-0.2
-0.6
-0.2
0.2
0.6
0
-0.4
0.2
-0.2
0.6
0.6
-0.2
0.6
1.2
0.8
0.4
5.4
3.2
-1.4
-2.8
-1
-0.8
-0.8
-0.8
-2
-1.8
-2.4
-2.6
-3.8
-3.2
1.2
1.6
0
-0.2
-1.8
-1
1
2
0
0
Difference X
(abs):
0
0.333333333
1.2
0.2
0.2
0
0
0.2
0.6
0.2
1.6
2.2
3
2.8
0.6
0.6
1
1
0.6
1.4
1.4
1.4
0.6
1
2
2
0
0.6
2.2
0.6
0.2
1.8
0.2
0.2
1.2
0.8
0.6
1
0.4
0.6
1.6
0.6
0.8
0
0.6
0.8
0
0.6
0
0.2
0.666666667
0
Difference Y
(abs):
0
1
2.8
0
0.6
0.2
0.4
0.2
0.4
1
0.2
0.2
0.2
0.6
0.2
0.2
0.6
0
0.4
0.2
0.2
0.6
0.6
0.2
0.6
1.2
0.8
0.4
5.4
3.2
1.4
2.8
1
0.8
0.8
0.8
2
1.8
2.4
2.6
3.8
3.2
1.2
1.6
0
0.2
1.8
1
1
2
0
0
Statistics:
Mean:
0.934615385
Maximum:
5.4
Sum:
97.2
RMS:
1.344059421
Mean X:
0.815384615
Mean Y:
1.053846154
Maximum X:
3
Maximum Y:
5.4
Sum X:
42.4
Sum Y:
54.8
RMS X:
1.099961149
RMS Y:
1.550186093

Raw:
X
104
103
102
103
103
103
103
102
102
102
100
102
107
114
125
133
143
151
156
165
170
174
178
181
182
182
178
177
177
168
164
158
157
153
149
148
146
146
141
141
138
134
128
126
123
119
118
116
113
109
108
102
Y
137
141
142
139
139
140
139
140
140
140
135
136
136
135
135
135
134
133
132
133
132
131
131
127
127
126
120
116
116
98
84
77
71
64
57
51
44
44
40
44
47
55
68
74
78
86
92
105
115
124
129
136
Moving Average
X:
Moving Average
Y:
104
103
103
102.8
102.8
102.8
102.6
102.4
101.8
101.6
102.6
105
109.6
116.2
124.4
133.2
141.6
149.6
157
163.2
168.6
173.6
177
179.4
180.2
180
179.2
176.4
172.8
168.8
164.8
160
156.2
153
150.6
148.4
146
144.4
142.4
140
136.4
133.4
129.8
126
122.8
120.4
117.8
115
112.8
109.6
106.3333333
102
137
140
139.6
140.2
139.8
139.4
139.6
139.8
138.8
138.2
137.4
136.4
135.4
135.4
135
134.4
133.8
133.4
132.8
132.2
131.8
130.8
129.6
128.4
126.2
123.2
121
115.2
106.8
98.2
89.2
78.8
70.6
64
57.4
52
47.2
44.6
43.8
46
50.8
57.6
64.4
72.2
79.6
87
95.2
104.4
113
121.8
129.6666667
136
Difference
X:
Difference
Y:
0
0
-1
0.2
0.2
0.2
0.4
-0.4
0.2
0.4
-2.6
-3
-2.6
-2.2
0.6
-0.2
1.4
1.4
-1
1.8
1.4
0.4
1
1.6
1.8
2
-1.2
0.6
4.2
-0.8
-0.8
-2
0.8
0
-1.6
-0.4
0
1.6
-1.4
1
1.6
0.6
-1.8
0
0.2
-1.4
0.2
1
0.2
-0.6
1.666666667
0
0
1
2.4
-1.2
-0.8
0.6
-0.6
0.2
1.2
1.8
-2.4
-0.4
0.6
-0.4
0
0.6
0.2
-0.4
-0.8
0.8
0.2
0.2
1.4
-1.4
0.8
2.8
-1
0.8
9.2
-0.2
-5.2
-1.8
0.4
0
-0.4
-1
-3.2
-0.6
-3.8
-2
-3.8
-2.6
3.6
1.8
-1.6
-1
-3.2
0.6
2
2.2
-0.666666667
0
Difference X
(abs):
0
0
1
0.2
0.2
0.2
0.4
0.4
0.2
0.4
2.6
3
2.6
2.2
0.6
0.2
1.4
1.4
1
1.8
1.4
0.4
1
1.6
1.8
2
1.2
0.6
4.2
0.8
0.8
2
0.8
0
1.6
0.4
0
1.6
1.4
1
1.6
0.6
1.8
0
0.2
1.4
0.2
1
0.2
0.6
1.666666667
0
Difference Y
(abs):
0
1
2.4
1.2
0.8
0.6
0.6
0.2
1.2
1.8
2.4
0.4
0.6
0.4
0
0.6
0.2
0.4
0.8
0.8
0.2
0.2
1.4
1.4
0.8
2.8
1
0.8
9.2
0.2
5.2
1.8
0.4
0
0.4
1
3.2
0.6
3.8
2
3.8
2.6
3.6
1.8
1.6
1
3.2
0.6
2
2.2
0.666666667
0
Statistics:
Mean:
1.245512821
Maximum:
9.2
Sum:
129.5333333
RMS:
1.806245102
Mean X:
1.032051282
Mean Y:
1.458974359
Maximum X:
4.2
Maximum Y:
9.2
Sum X:
53.66666667
Sum Y:
75.86666667
RMS X:
1.361968159
RMS Y:
2.161038054

143
123
Y-coordinate
103
83
Moving Average
Kalman Filter
63
43
23
80
100
120
140
160
180
200
X-coordinate

143
123
Y-coordinate
103
83
Moving Average
Raw Data
63
43
23
80
100
120
140
X-coordinate
160
180
200
Trial 5:
Trial 5:
Moving Average
X:
Moving Average
Y:
39
169
39
169
170
173
176
178
180
183
186
190
194
197
202
206
208
211
214
38
41
46
53
59
67
72
77
82
88
94
102
109
116
124
131
169.3333333
171.4
173.2
175.4
178
180.6
183.4
186.6
190
193.8
197.8
201.4
204.8
208.2
211
213.2
216
217
215
136
138
139
210
203
193
183
175
169
163
158
152
145
138
134
132
130
128
128
129
131
133
136
138
140
142
144
147
150
151
155
158
161
140
140
139
137
136
136
137
137
138
139
138
138
138
138
137
137
136
133
129
123
119
115
109
103
97
90
82
76
69
63
Kalman:
X
169
Difference
X:
Difference
Y:
Difference X
(abs):
Difference Y
(abs):
0
1.333333333
-2.4
-1.4
-0.2
-0.4
1.4
0.6
-0.2
-0.6
-0.6
-1
0.2
0
-0.4
0.8
2
39.33333333
43.4
47.4
53.2
59.4
65.6
71.4
77.2
82.6
88.6
95
101.8
109
116.4
123.2
129
0
0.333333333
-1.4
-0.2
0.6
0
-0.6
-0.4
-0.6
0
0.2
-0.8
0.6
1.2
-0.2
0
0.8
0.333333333
1.4
0.2
0.6
0
0.6
0.4
0.6
0
0.2
0.8
0.6
1.2
0.2
0
0.8
1.333333333
2.4
1.4
0.2
0.4
1.4
0.6
0.2
0.6
0.6
1
0.2
0
0.4
0.8
2
214.6
214.4
212.2
133.6
136.8
138.6
1.4
2.6
2.8
2.4
1.2
0.4
1.4
2.6
2.8
2.4
1.2
0.4
207.6
200.8
192.8
184.6
176.6
169.6
163.4
157.4
151.2
145.4
140.2
135.8
132.4
130.4
129.4
129.2
129.8
131.4
133.4
135.6
137.8
140
142.2
144.6
146.8
149.4
152.2
155
157.6
160.2
139.2
139
138.4
137.6
137
136.6
136.8
137.4
137.8
138
138.2
138.2
137.8
137.6
137.2
136.2
134.4
131.6
128
123.8
119
113.8
108.6
102.8
96.2
89.6
82.8
76
69.4
63
2.4
2.2
0.2
-1.6
-1.6
-0.6
-0.4
0.6
0.8
-0.4
-2.2
-1.8
-0.4
-0.4
-1.4
-1.2
-0.8
-0.4
-0.4
0.4
0.2
0
-0.2
-0.6
0.2
0.6
-1.2
0
0.4
0.8
0.8
1
0.6
-0.6
-1
-0.6
0.2
-0.4
0.2
1
-0.2
-0.2
0.2
0.4
-0.2
0.8
1.6
1.4
1
-0.8
0
1.2
0.4
0.2
0.8
0.4
-0.8
0
-0.4
0
2.4
2.2
0.2
1.6
1.6
0.6
0.4
0.6
0.8
0.4
2.2
1.8
0.4
0.4
1.4
1.2
0.8
0.4
0.4
0.4
0.2
0
0.2
0.6
0.2
0.6
1.2
0
0.4
0.8
0.8
1
0.6
0.6
1
0.6
0.2
0.4
0.2
1
0.2
0.2
0.2
0.4
0.2
0.8
1.6
1.4
1
0.8
0
1.2
0.4
0.2
0.8
0.4
0.8
0
0.4
0
Statistics:
Mean:
0.716111
Maximum:
2.8
Sum:
85.93333
RMS:
0.967949
Mean X:
0.714444
Mean Y:
0.717778
Maximum
X:
2.8
Maximum
Y:
2.4
Sum X:
42.86667
Sum Y:
43.06667
RMS X:
0.98744
RMS Y:
0.948058
163
164
166
167
168
168
167
167
167
166
57
50
44
40
39
39
39
40
41
41
162.4
164.2
165.6
166.6
167.2
167.4
167.4
167
166.6666667
166
56.6
50.8
46
42.4
40.2
39.4
39.6
40
40.66666667
41
0.6
-0.2
0.4
0.4
0.8
0.6
-0.4
0
0.333333333
0
0.4
-0.8
-2
-2.4
-1.2
-0.4
-0.6
0
0.333333333
0
0.6
0.2
0.4
0.4
0.8
0.6
0.4
0
0.333333333
0
0.4
0.8
2
2.4
1.2
0.4
0.6
0
0.333333333
0
Raw:
X
170
169
171
174
177
178
180
184
188
191
195
198
203
206
208
211
215
216
216
213
206
199
189
181
175
171
164
159
153
145
138
136
135
132
130
131
132
134
135
138
138
142
143
145
148
151
151
157
159
161
163
164
166
167
168
167
167
167
168
166
Moving Average
X:
Moving Average
Y:
Difference
X:
Difference Y:
Difference X
(abs):
Difference Y
(abs):
Y
39
39
42
48
56
60
69
72
77
82
89
95
104
110
117
125
131
135
136
137
138
139
137
136
136
137
138
137
140
139
138
138
139
138
137
137
137
132
128
121
119
116
107
103
97
89
82
76
69
65
57
51
45
42
42
42
42
43
43
42
170
170
172.2
173.8
176
178.6
181.4
184.2
187.6
191.2
195
198.6
202
205.2
208.6
211.2
213.2
214.2
213.2
210
204.6
197.6
190
183
176
170
164.4
158.4
151.8
146.2
141.4
137.2
134.2
132.8
132
131.8
132.4
134
135.4
137.4
139.2
141.2
143.2
145.8
147.6
150.4
153.2
155.8
158.2
160.8
162.6
164.2
165.6
166.4
167
167.2
167.4
167
167
166
39
40
44.8
49
55
61
66.8
72
77.8
83
89.4
96
103
110.2
117.4
123.6
128.8
132.8
135.4
137
137.4
137.4
137.2
137
136.8
136.8
137.6
138.2
138.4
138.4
138.8
138.4
138
137.8
137.6
136.2
134.2
131
127.4
123.2
118.2
113.2
108.4
102.4
95.6
89.4
82.6
76.2
69.8
63.6
57.4
52
47.4
44.4
42.6
42.2
42.4
42.4
42.66666667
42
0
-1
-1.2
0.2
1
-0.6
-1.4
-0.2
0.4
-0.2
0
-0.6
1
0.8
-0.6
-0.2
1.8
1.8
2.8
3
1.4
1.4
-1
-2
-1
1
-0.4
0.6
1.2
-1.2
-3.4
-1.2
0.8
-0.8
-2
-0.8
-0.4
0
-0.4
0.6
-1.2
0.8
-0.2
-0.8
0.4
0.6
-2.2
1.2
0.8
0.2
0.4
-0.2
0.4
0.6
1
-0.2
-0.4
0
1
0
0
-1
-2.8
-1
1
-1
2.2
0
-0.8
-1
-0.4
-1
1
-0.2
-0.4
1.4
2.2
2.2
0.6
0
0.6
1.6
-0.2
-1
-0.8
0.2
0.4
-1.2
1.6
0.6
-0.8
-0.4
1
0.2
-0.6
0.8
2.8
1
0.6
-2.2
0.8
2.8
-1.4
0.6
1.4
-0.4
-0.6
-0.2
-0.8
1.4
-0.4
-1
-2.4
-2.4
-0.6
-0.2
-0.4
0.6
0.333333333
0
0
1
1.2
0.2
1
0.6
1.4
0.2
0.4
0.2
0
0.6
1
0.8
0.6
0.2
1.8
1.8
2.8
3
1.4
1.4
1
2
1
1
0.4
0.6
1.2
1.2
3.4
1.2
0.8
0.8
2
0.8
0.4
0
0.4
0.6
1.2
0.8
0.2
0.8
0.4
0.6
2.2
1.2
0.8
0.2
0.4
0.2
0.4
0.6
1
0.2
0.4
0
1
0
0
1
2.8
1
1
1
2.2
0
0.8
1
0.4
1
1
0.2
0.4
1.4
2.2
2.2
0.6
0
0.6
1.6
0.2
1
0.8
0.2
0.4
1.2
1.6
0.6
0.8
0.4
1
0.2
0.6
0.8
2.8
1
0.6
2.2
0.8
2.8
1.4
0.6
1.4
0.4
0.6
0.2
0.8
1.4
0.4
1
2.4
2.4
0.6
0.2
0.4
0.6
0.333333333
0
Statistics:
Mean:
0.921111111
Maximum:
3.4
Sum:
110.5333333
RMS:
1.180364037
Mean X:
0.883333333
Mean Y:
0.958888889
Maximum X:
3.4
Maximum Y:
2.8
Sum X:
53
Sum Y:
57.53333333
RMS X:
1.14629839
RMS Y:
1.21347374

140
120
Y-coordinate
100
80
Moving Average
Kalman Filter
60
40
20
80
130
180
230
X-coordinate

140
120
Y-coordinate
100
80
Moving Average
Raw Data
60
40
20
80
130
180
X-coordinate
230
Figure 8 (1):
Trial 1:
Kalman Filter Data:
Kalman:
X
76
74
70
67
66
66
67
68
69
73
78
82
85
90
95
97
102
107
109
115
121
126
132
137
142
147
150
153
156
158
159
159
158
155
151
149
148
142
135
130
125
122
119
116
115
115
115
115
Moving
Average X:
Moving
Average Y:
Difference
X:
Difference
Y:
Difference X
(abs):
Difference Y
(abs):
Y
37
41
48
55
61
67
70
73
75
81
84
87
88
89
88
86
82
79
77
71
65
62
59
59
61
63
66
69
73
76
79
85
92
101
107
112
114
119
120
119
116
111
104
98
91
86
80
77
76
73.33333333
70.6
68.6
67.2
66.8
67.2
68.6
71
74
77.4
81.6
86
89.8
93.8
98.2
102
106
110.8
115.6
120.6
126.2
131.6
136.8
141.6
145.8
149.6
152.8
155.2
157
158
157.8
156.4
154.4
152.2
149
145
140.8
136
130.8
126.2
122.4
119.4
117.4
116
115.2
115.2
115.8
37
42
48.4
54.4
60.2
65.2
69.2
73.2
76.6
80
83
85.8
87.2
87.6
86.6
84.8
82.4
79
74.8
70.8
66.8
63.2
61.2
60.8
61.6
63.6
66.4
69.4
72.6
76.4
81
86.6
92.8
99.4
105.2
110.6
114.4
116.8
117.6
117
114
109.6
104
98
91.8
86.4
81.4
77.2
0
0.666666667
-0.6
-1.6
-1.2
-0.8
-0.2
-0.6
-2
-1
0.6
0.4
-1
0.2
1.2
-1.2
0
1
-1.8
-0.6
0.4
-0.2
0.4
0.2
0.4
1.2
0.4
0.2
0.8
1
1
1.2
1.6
0.6
-1.2
0
3
1.2
-1
-0.8
-1.2
-0.4
-0.4
-1.4
-1
-0.2
-0.2
-0.8
0
-1
-0.4
0.6
0.8
1.8
0.8
-0.2
-1.6
1
1
1.2
0.8
1.4
1.4
1.2
-0.4
0
2.2
0.2
-1.8
-1.2
-2.2
-1.8
-0.6
-0.6
-0.4
-0.4
0.4
-0.4
-2
-1.6
-0.8
1.6
1.8
1.4
-0.4
2.2
2.4
2
2
1.4
0
0
-0.8
-0.4
-1.4
-0.2
0
0.666666667
0.6
1.6
1.2
0.8
0.2
0.6
2
1
0.6
0.4
1
0.2
1.2
1.2
0
1
1.8
0.6
0.4
0.2
0.4
0.2
0.4
1.2
0.4
0.2
0.8
1
1
1.2
1.6
0.6
1.2
0
3
1.2
1
0.8
1.2
0.4
0.4
1.4
1
0.2
0.2
0.8
0
1
0.4
0.6
0.8
1.8
0.8
0.2
1.6
1
1
1.2
0.8
1.4
1.4
1.2
0.4
0
2.2
0.2
1.8
1.2
2.2
1.8
0.6
0.6
0.4
0.4
0.4
0.4
2
1.6
0.8
1.6
1.8
1.4
0.4
2.2
2.4
2
2
1.4
0
0
0.8
0.4
1.4
0.2
Statistics:
Mean:
1.05959596
Maximum:
4.8
Sum:
139.8666667
RMS:
1.362830289
Mean X:
0.867676768
Mean Y:
1.251515152
Maximum X:
4
Maximum Y:
4.8
Sum X:
57.26666667
Sum Y:
82.6
RMS X:
1.10703292
RMS Y:
1.577685301
0
1
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
116
118
118
118
119
118
116
113
110
99
92
84
79
75
72
70
69
68
73
70
63
55
48
43
37
40
41
34
31
31
33
37
45
51
54
57
116.4
117
117.8
118.2
117.8
116.8
115.2
111.2
106
99.6
92.8
85.8
80.4
76
73
70.8
69
68
72.6
67.6
61.8
55.8
49.2
44.6
41.8
39
36.6
35.4
34
33.2
35.4
39.4
44
48.8
54
57
-0.4
1
0.2
-0.2
1.2
1.2
0.8
1.8
4
-0.6
-0.8
-1.8
-1.4
-1
-1
-0.8
0
0
0.4
2.4
1.2
-0.8
-1.2
-1.6
-4.8
1
4.4
-1.4
-3
-2.2
-2.4
-2.4
1
2.2
0
0
0.4
1
0.2
0.2
1.2
1.2
0.8
1.8
4
0.6
0.8
1.8
1.4
1
1
0.8
0
0
0.4
2.4
1.2
0.8
1.2
1.6
4.8
1
4.4
1.4
3
2.2
2.4
2.4
1
2.2
0
0
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
1
0

Raw:
X
76
74
70
68
68
68
69
70
70
77
80
83
86
91
97
96
103
108
108
118
122
126
133
138
142
147
149
152
156
158
157
158
156
154
148
149
149
140
133
130
126
124
120
118
117
118
116
117
118
119
118
119
119
117
115
112
109
94
90
84
Moving
Average X:
Moving
Average Y:
Difference
X:
Difference
Y:
Difference X
(abs):
Difference Y
(abs):
Y
37
76
37
42
49
56
62
67
68
73
73
83
83
88
87
88
87
84
80
78
78
68
64
63
61
61
65
66
68
71
75
77
80
87
95
104
108
112
112
119
118
117
113
107
101
96
90
86
81
79
74
71
61
54
48
44
38
46
45
31
32
33
73.33333333
71.2
69.6
68.6
68.6
69
70.8
73.2
76
79.2
83.4
87.4
90.6
94.6
99
102.4
106.6
111.8
116.4
121.4
127.4
132.2
137.2
141.8
145.6
149.2
152.4
154.4
156.2
157
156.6
154.6
153
151.2
148
143.8
140.2
135.6
130.6
126.6
123.6
121
119.4
117.8
117.2
117.2
117.6
117.6
118.2
118.6
118.4
117.6
116.4
114.4
109.4
104
97.8
91.4
85.2
42.66666667
49.2
55.2
60.4
65.2
68.6
72.8
76
80
82.8
85.8
86.6
86.8
85.2
83.4
81.4
77.6
73.6
70.2
66.8
63.4
62.8
63.2
64.2
66.2
69
71.4
74.2
78
82.8
88.6
94.8
101.2
106.2
111
113.8
115.6
115.8
114.8
111.2
106.8
101.4
96
90.8
86.4
82
78.2
73.2
67.8
61.6
55.6
49
46
44.2
40.8
38.4
37.4
35.6
34.8
0.666666667
-1.2
-1.6
-0.6
-0.6
0
-0.8
-3.2
1
0.8
-0.4
-1.4
0.4
2.4
-3
0.6
1.4
-3.8
1.6
0.6
-1.4
0.8
0.8
0.2
1.4
-0.2
-0.4
1.6
1.8
0
1.4
1.4
1
-3.2
1
5.2
-0.2
-2.6
-0.6
-0.6
0.4
-1
-1.4
-0.8
0.8
-1.2
-0.6
0.4
0.8
-0.6
0.6
1.4
0.6
0.6
2.6
5
-3.8
-1.4
-1.2
0
0.666666667
-0.2
0.8
1.6
1.8
-0.6
0.2
-3
3
0.2
2.2
0.4
1.2
1.8
0.6
-1.4
0.4
4.4
-2.2
-2.8
-0.4
-1.8
-2.2
0.8
-0.2
-1
-0.4
0.8
-1
-2.8
-1.6
0.2
2.8
1.8
1
-1.8
3.4
2.2
2.2
1.8
0.2
-0.4
0
-0.8
-0.4
-1
0.8
0.8
3.2
-0.6
-1.6
-1
-2
-6.2
5.2
6.6
-6.4
-3.6
-1.8
0.666666667
1.2
1.6
0.6
0.6
0
0.8
3.2
1
0.8
0.4
1.4
0.4
2.4
3
0.6
1.4
3.8
1.6
0.6
1.4
0.8
0.8
0.2
1.4
0.2
0.4
1.6
1.8
0
1.4
1.4
1
3.2
1
5.2
0.2
2.6
0.6
0.6
0.4
1
1.4
0.8
0.8
1.2
0.6
0.4
0.8
0.6
0.6
1.4
0.6
0.6
2.6
5
3.8
1.4
1.2
0.666666667
0.2
0.8
1.6
1.8
0.6
0.2
3
3
0.2
2.2
0.4
1.2
1.8
0.6
1.4
0.4
4.4
2.2
2.8
0.4
1.8
2.2
0.8
0.2
1
0.4
0.8
1
2.8
1.6
0.2
2.8
1.8
1
1.8
3.4
2.2
2.2
1.8
0.2
0.4
0
0.8
0.4
1
0.8
0.8
3.2
0.6
1.6
1
2
6.2
5.2
6.6
6.4
3.6
1.8
Statistics:
Mean:
1.477272727
Maximum:
6.6
Sum:
195
RMS:
1.994968418
Mean X:
1.249494949
Mean Y:
1.705050505
Maximum X:
5.2
Maximum Y:
6.6
Sum X:
82.46666667
Sum Y:
112.5333333
RMS X:
1.666808075
RMS Y:
2.276301566
80
78
73
72
37
41
50
53
81
77.4
75
72.8
38.6
42.8
46.8
51
-1
0.6
-2
-0.8
72
69
53
58
71
69
54.66666667
58
1
0
-1.6
-1.8
3.2
2
1.666666667
0
1
0.6
2
0.8
1.6
1.8
3.2
2
1
0
1.666666667
0
Figure 8 Trial 1 Kalman Filter

140
120
Y-coordinate
100
80
Moving Average
Kalman Filter
60
40
20
50
70
90
110
130
150
170
X-coordinate
Figure 8 Trial 1 Raw Measurement

140
120
Y-coordinate
100
80
Moving Average
Raw Data
60
40
20
50
70
90
110
X-coordinate
130
150
170
Trial 2:
Kalman Filter:
Kalman:
X
133
138
142
145
148
150
151
154
155
156
158
160
162
163
162
160
155
151
147
143
138
134
131
129
126
123
120
116
115
117
117
117
118
118
117
114
112
106
101
95
88
83
80
77
76
76
77
78
81
84
88
92
96
100
103
107
110
113
Moving Average
X:
Moving Average
Y:
Difference
X:
Difference
Y:
Difference X
(abs):
Difference Y
(abs):
Y
66
64
65
65
66
66
67
69
71
73
77
80
85
89
94
100
105
110
115
119
119
117
114
113
108
101
96
90
82
75
69
60
55
48
42
35
31
28
27
26
27
29
33
42
51
59
64
68
73
77
80
81
84
85
84
83
81
78
133
137.6666667
141.2
144.6
147.2
149.6
151.6
153.2
154.8
156.6
158.2
159.8
161
161.4
160.4
158.2
155
151.2
146.8
142.6
138.6
135
131.6
128.6
125.8
122.8
120
118.2
117
116.4
116.8
117.4
117.4
116.8
115.8
113.4
110
105.6
100.4
94.6
89.4
84.6
80.8
78.4
77.2
76.8
77.6
79.2
81.6
84.6
88.2
92
95.8
99.6
103.2
106.6
109.8
113
66
65
65.2
65.2
65.8
66.6
67.8
69.2
71.4
74
77.2
80.8
85
89.6
94.6
99.6
104.8
109.8
113.6
116
116.8
116.4
114.2
110.6
106.4
101.6
95.4
88.8
82.4
75.2
68.2
61.4
54.8
48
42.2
36.8
32.6
29.4
27.8
27.4
28.4
31.4
36.4
42.8
49.8
56.8
63
68.2
72.4
75.8
79
81.4
82.8
83.4
83.4
82.2
80
77.6
0
0.333333333
0.8
0.4
0.8
0.4
-0.6
0.8
0.2
-0.6
-0.2
0.2
1
1.6
1.6
1.8
0
-0.2
0.2
0.4
-0.6
-1
-0.6
0.4
0.2
0.2
0
-2.2
-2
0.6
0.2
-0.4
0.6
1.2
1.2
0.6
2
0.4
0.6
0.4
-1.4
-1.6
-0.8
-1.4
-1.2
-0.8
-0.6
-1.2
-0.6
-0.6
-0.2
0
0.2
0.4
-0.2
0.4
0.2
0
0
-1
-0.2
-0.2
0.2
-0.6
-0.8
-0.2
-0.4
-1
-0.2
-0.8
0
-0.6
-0.6
0.4
0.2
0.2
1.4
3
2.2
0.6
-0.2
2.4
1.6
-0.6
0.6
1.2
-0.4
-0.2
0.8
-1.4
0.2
0
-0.2
-1.8
-1.6
-1.4
-0.8
-1.4
-1.4
-2.4
-3.4
-0.8
1.2
2.2
1
-0.2
0.6
1.2
1
-0.4
1.2
1.6
0.6
0.8
1
0.4
0
0.333333333
0.8
0.4
0.8
0.4
0.6
0.8
0.2
0.6
0.2
0.2
1
1.6
1.6
1.8
0
0.2
0.2
0.4
0.6
1
0.6
0.4
0.2
0.2
0
2.2
2
0.6
0.2
0.4
0.6
1.2
1.2
0.6
2
0.4
0.6
0.4
1.4
1.6
0.8
1.4
1.2
0.8
0.6
1.2
0.6
0.6
0.2
0
0.2
0.4
0.2
0.4
0.2
0
0
1
0.2
0.2
0.2
0.6
0.8
0.2
0.4
1
0.2
0.8
0
0.6
0.6
0.4
0.2
0.2
1.4
3
2.2
0.6
0.2
2.4
1.6
0.6
0.6
1.2
0.4
0.2
0.8
1.4
0.2
0
0.2
1.8
1.6
1.4
0.8
1.4
1.4
2.4
3.4
0.8
1.2
2.2
1
0.2
0.6
1.2
1
0.4
1.2
1.6
0.6
0.8
1
0.4
Statistics:
Mean:
0.782564103
Maximum:
3.4
Sum:
101.7333333
RMS:
1.020507667
Mean X:
0.662564103
Mean Y:
0.902564103
Maximum X:
2.2
Maximum Y:
3.4
Sum X:
43.06666667
Sum Y:
58.66666667
RMS X:
0.85415025
RMS Y:
1.163313864
116
119
124
128
131
133
136
74
72
67
63
61
60
61
116.4
120
123.6
127
130.4
133.3333333
136
74.4
70.8
67.4
64.6
62.4
60.66666667
61
-0.4
-1
0.4
1
0.6
-0.333333333
0
-0.4
1.2
-0.4
-1.6
-1.4
-0.666666667
0
0.4
1
0.4
1
0.6
0.333333333
0
0.4
1.2
0.4
1.6
1.4
0.666666667
0

Raw:
X
134
138
142
145
148
149
151
154
154
157
158
161
163
163
161
158
152
151
146
143
138
135
132
130
127
123
120
117
117
120
118
119
119
119
116
113
112
104
100
93
88
84
82
79
78
79
79
80
84
86
91
93
Moving
Average X:
Y
66
65
66
65
67
67
68
70
72
75
78
82
87
89
96
102
106
111
116
118
117
114
112
112
106
98
95
89
81
75
70
59
56
48
43
35
34
31
29
29
30
32
37
47
56
61
63
68
73
76
79
80
134
138
141.4
144.4
147
149.4
151.2
153
154.8
156.8
158.6
160.4
161.2
161.2
159.4
157
153.6
150
146
142.6
138.8
135.6
132.4
129.4
126.4
123.4
120.8
119.4
118.4
118.2
118.6
119
118.2
117.2
115.8
112.8
109
104.4
99.4
93.8
89.4
85.2
82.2
80.4
79.4
79
80
81.6
84
86.8
90.2
93.6
Moving
Average Y:
66
65.66666667
65.8
66
66.6
67.4
68.8
70.4
72.6
75.4
78.8
82.2
86.4
91.2
96
100.8
106.2
110.6
113.6
115.2
115.4
114.6
112.2
108.4
104.6
100
93.8
87.6
82
74.8
68.2
61.6
55.2
48.2
43.2
38.2
34.4
31.6
30.6
30.2
31.4
35
40.4
46.6
52.8
59
64.2
68.2
71.8
75.2
78.6
80.6
Difference
X:
0
0
0.6
0.6
1
-0.4
-0.2
1
-0.8
0.2
-0.6
0.6
1.8
1.8
1.6
1
-1.6
1
0
0.4
-0.8
-0.6
-0.4
0.6
0.6
-0.4
-0.8
-2.4
-1.4
1.8
-0.6
0
0.8
1.8
0.2
0.2
3
-0.4
0.6
-0.8
-1.4
-1.2
-0.2
-1.4
-1.4
0
-1
-1.6
0
-0.8
0.8
-0.6
Difference
Y:
0
-0.666666667
0.2
-1
0.4
-0.4
-0.8
-0.4
-0.6
-0.4
-0.8
-0.2
0.6
-2.2
0
1.2
-0.2
0.4
2.4
2.8
1.6
-0.6
-0.2
3.6
1.4
-2
1.2
1.4
-1
0.2
1.8
-2.6
0.8
-0.2
-0.2
-3.2
-0.4
-0.6
-1.6
-1.2
-1.4
-3
-3.4
0.4
3.2
2
-1.2
-0.2
1.2
0.8
0.4
-0.6
Difference X
(abs):
0
0
0.6
0.6
1
0.4
0.2
1
0.8
0.2
0.6
0.6
1.8
1.8
1.6
1
1.6
1
0
0.4
0.8
0.6
0.4
0.6
0.6
0.4
0.8
2.4
1.4
1.8
0.6
0
0.8
1.8
0.2
0.2
3
0.4
0.6
0.8
1.4
1.2
0.2
1.4
1.4
0
1
1.6
0
0.8
0.8
0.6
Difference Y
(abs):
0
0.666666667
0.2
1
0.4
0.4
0.8
0.4
0.6
0.4
0.8
0.2
0.6
2.2
0
1.2
0.2
0.4
2.4
2.8
1.6
0.6
0.2
3.6
1.4
2
1.2
1.4
1
0.2
1.8
2.6
0.8
0.2
0.2
3.2
0.4
0.6
1.6
1.2
1.4
3
3.4
0.4
3.2
2
1.2
0.2
1.2
0.8
0.4
0.6
Statistics:
Mean:
0.968205128
Maximum:
3.6
Sum:
125.8666667
RMS:
1.276185556
Mean X:
0.806153846
Mean Y:
1.13025641
Maximum X:
3
Maximum Y:
3.6
Sum X:
52.4
Sum Y:
73.46666667
RMS X:
1.027019586
RMS Y:
1.484092286
97
101
103
108
110
113
117
119
126
128
131
132
136
85
83
82
82
80
77
73
72
66
63
62
63
64
97
100.4
103.8
107
110.2
113.4
117
120.6
124.2
127.2
130.6
133
136
81.8
82.4
82.4
80.8
78.8
76.8
73.6
70.2
67.2
65.2
63.6
63
64
0
0.6
-0.8
1
-0.2
-0.4
0
-1.6
1.8
0.8
0.4
-1
0
3.2
0.6
-0.4
1.2
1.2
0.2
-0.6
1.8
-1.2
-2.2
-1.6
0
0
0
0.6
0.8
1
0.2
0.4
0
1.6
1.8
0.8
0.4
1
0
3.2
0.6
0.4
1.2
1.2
0.2
0.6
1.8
1.2
2.2
1.6
0
0

140
120
Y-coordinate
100
80
Moving Average
Kalman Filter
60
40
20
50
70
90
110
130
150
170
X-coordinate

140
120
Y-coordinate
100
80
Moving Average
Raw Data
60
40
20
50
70
90
110
X-coordinate
130
150
170
Trial 3:
Kalman Filter Data:
Kalman:
X
85
90
93
96
99
104
109
112
115
119
123
125
130
133
134
140
145
148
151
154
156
159
162
163
163
161
158
153
151
147
143
139
136
130
126
123
122
120
119
117
114
113
114
115
116
115
114
111
106
99
92
87
83
78
73
71
71
73
Moving
Average X:
Y
76
82
84
86
86
87
86
84
81
77
72
69
64
61
60
59
59
61
63
66
69
73
79
84
89
94
100
105
108
111
114
115
116
114
111
110
106
102
98
94
90
82
74
62
55
48
42
34
29
25
25
25
27
33
39
45
54
61
85
89.33333333
92.6
96.4
100.2
104
107.8
111.8
115.6
118.8
122.4
126
129
132.4
136.4
140
143.6
147.6
150.8
153.6
156.4
158.8
160.6
161.6
161.4
159.6
157.2
154
150.4
146.6
143.2
139
134.8
130.8
127.4
124.2
122
120.2
118.4
116.6
115.4
114.6
114.4
114.6
114.8
114.2
112.4
109
104.4
99
93.4
87.8
82.6
78.4
75.2
73.2
72.6
74
Moving
Average Y:
76
80.66666667
82.8
85
85.8
85.8
84.8
83
80
76.6
72.6
68.6
65.2
62.6
60.6
60
60.4
61.6
63.6
66.4
70
74.2
78.8
83.8
89.2
94.4
99.2
103.6
107.6
110.6
112.8
114
114
113.2
111.4
108.6
105.4
102
98
93.2
87.6
80.4
72.6
64.2
56.2
48.2
41.6
35.6
31
27.6
26.2
27
29.8
33.8
39.6
46.4
52.8
59.4
Difference
X:
0
0.666666667
0.4
-0.4
-1.2
0
1.2
0.2
-0.6
0.2
0.6
-1
1
0.6
-2.4
0
1.4
0.4
0.2
0.4
-0.4
0.2
1.4
1.4
1.6
1.4
0.8
-1
0.6
0.4
-0.2
0
1.2
-0.8
-1.4
-1.2
0
-0.2
0.6
0.4
-1.4
-1.6
-0.4
0.4
1.2
0.8
1.6
2
1.6
0
-1.4
-0.8
0.4
-0.4
-2.2
-2.2
-1.6
-1
Difference
Y:
0
1.333333333
1.2
1
0.2
1.2
1.2
1
1
0.4
-0.6
0.4
-1.2
-1.6
-0.6
-1
-1.4
-0.6
-0.6
-0.4
-1
-1.2
0.2
0.2
-0.2
-0.4
0.8
1.4
0.4
0.4
1.2
1
2
0.8
-0.4
1.4
0.6
0
0
0.8
2.4
1.6
1.4
-2.2
-1.2
-0.2
0.4
-1.6
-2
-2.6
-1.2
-2
-2.8
-0.8
-0.6
-1.4
1.2
1.6
Difference X
(abs):
0
0.666666667
0.4
0.4
1.2
0
1.2
0.2
0.6
0.2
0.6
1
1
0.6
2.4
0
1.4
0.4
0.2
0.4
0.4
0.2
1.4
1.4
1.6
1.4
0.8
1
0.6
0.4
0.2
0
1.2
0.8
1.4
1.2
0
0.2
0.6
0.4
1.4
1.6
0.4
0.4
1.2
0.8
1.6
2
1.6
0
1.4
0.8
0.4
0.4
2.2
2.2
1.6
1
Difference Y
(abs):
0
1.333333333
1.2
1
0.2
1.2
1.2
1
1
0.4
0.6
0.4
1.2
1.6
0.6
1
1.4
0.6
0.6
0.4
1
1.2
0.2
0.2
0.2
0.4
0.8
1.4
0.4
0.4
1.2
1
2
0.8
0.4
1.4
0.6
0
0
0.8
2.4
1.6
1.4
2.2
1.2
0.2
0.4
1.6
2
2.6
1.2
2
2.8
0.8
0.6
1.4
1.2
1.6
Statistics:
Mean:
0.897619048
Maximum:
2.8
Sum:
125.6666667
RMS:
1.104751642
Mean X:
0.786666667
Mean Y:
1.008571429
Maximum X:
2.4
Maximum Y:
2.8
Sum X:
55.06666667
Sum Y:
70.6
RMS X:
0.998029805
RMS Y:
1.202035311
75
80
84
91
96
102
108
113
120
125
130
135
65
72
77
80
82
81
79
77
72
69
64
61
76.6
80.6
85.2
90.6
96.2
102
107.8
113.6
119.2
124.6
130
135
65.8
71
75.2
78.4
79.8
79.8
78.2
75.6
72.2
68.6
64.66666667
61
-1.6
-0.6
-1.2
0.4
-0.2
0
0.2
-0.6
0.8
0.4
0
0
-0.8
1
1.8
1.6
2.2
1.2
0.8
1.4
-0.2
0.4
-0.666666667
0
1.6
0.6
1.2
0.4
0.2
0
0.2
0.6
0.8
0.4
0
0
0.8
1
1.8
1.6
2.2
1.2
0.8
1.4
0.2
0.4
0.666666667
0

Raw:
X
86
91
93
96
100
106
110
112
115
120
123
125
131
133
133
142
146
148
150
154
156
159
163
162
161
159
156
151
151
147
143
139
136
129
127
125
124
121
120
118
114
114
117
116
118
114
115
109
104
97
90
88
84
78
74
73
74
77
77
84
87
Moving
Average X:
Y
77
82
84
85
86
87
85
83
80
75
71
69
63
62
62
61
61
63
65
69
71
74
82
85
90
95
102
105
107
111
113
114
115
111
110
109
105
100
98
94
90
79
72
59
57
49
43
34
31
28
29
29
31
38
43
48
57
62
65
73
77
86
90
93.2
97.2
101
104.8
108.6
112.6
116
119
122.8
126.4
129
132.8
137
140.4
143.8
148
150.8
153.4
156.4
158.8
160.2
160.8
160.2
157.8
155.6
152.8
149.6
146.2
143.2
138.8
134.8
131.2
128.2
125.2
123.4
121.6
119.4
117.4
116.6
115.8
115.8
115.8
116
114.4
112
107.8
103
97.6
92.6
87.4
82.8
79.4
76.6
75.2
75
77
79.8
83.8
88
Moving
Average Y:
77
81
82.8
84.8
85.4
85.2
84.2
82
78.8
75.6
71.6
68
65.4
63.4
61.8
61.8
62.4
63.8
65.8
68.4
72.2
76.2
80.4
85.2
90.8
95.4
99.8
104
107.6
110
112
112.8
112.6
111.8
110
107
104.4
101.2
97.4
92.2
86.6
78.8
71.4
63.2
56
48.4
42.8
37
33
30.2
29.6
31
34
37.8
43.4
49.6
55
61
66.8
71
74.6
Difference
X:
0
1
-0.2
-1.2
-1
1.2
1.4
-0.6
-1
1
0.2
-1.4
2
0.2
-4
1.6
2.2
0
-0.8
0.6
-0.4
0.2
2.8
1.2
0.8
1.2
0.4
-1.8
1.4
0.8
-0.2
0.2
1.2
-2.2
-1.2
-0.2
0.6
-0.6
0.6
0.6
-2.6
-1.8
1.2
0.2
2
-0.4
3
1.2
1
-0.6
-2.6
0.6
1.2
-1.4
-2.6
-2.2
-1
0
-2.8
0.2
-1
Difference
Y:
Difference X
(abs):
0
1
1.2
0.2
0.6
1.8
0.8
1
1.2
-0.6
-0.6
1
-2.4
-1.4
0.2
-0.8
-1.4
-0.8
-0.8
0.6
-1.2
-2.2
1.6
-0.2
-0.8
-0.4
2.2
1
-0.6
1
1
1.2
2.4
-0.8
0
2
0.6
-1.2
0.6
1.8
3.4
0.2
0.6
-4.2
1
0.6
0.2
-3
-2
-2.2
-0.6
-2
-3
0.2
-0.4
-1.6
2
1
-1.8
2
2.4
0
1
0.2
1.2
1
1.2
1.4
0.6
1
1
0.2
1.4
2
0.2
4
1.6
2.2
0
0.8
0.6
0.4
0.2
2.8
1.2
0.8
1.2
0.4
1.8
1.4
0.8
0.2
0.2
1.2
2.2
1.2
0.2
0.6
0.6
0.6
0.6
2.6
1.8
1.2
0.2
2
0.4
3
1.2
1
0.6
2.6
0.6
1.2
1.4
2.6
2.2
1
0
2.8
0.2
1
Difference Y
(abs):
0
1
1.2
0.2
0.6
1.8
0.8
1
1.2
0.6
0.6
1
2.4
1.4
0.2
0.8
1.4
0.8
0.8
0.6
1.2
2.2
1.6
0.2
0.8
0.4
2.2
1
0.6
1
1
1.2
2.4
0.8
0
2
0.6
1.2
0.6
1.8
3.4
0.2
0.6
4.2
1
0.6
0.2
3
2
2.2
0.6
2
3
0.2
0.4
1.6
2
1
1.8
2
2.4
Statistics:
Mean:
1.136190476
Maximum:
4.2
Sum:
159.0666667
RMS:
1.422695854
Mean X:
1.079047619
Mean Y:
1.193333333
Maximum X:
4
Maximum Y:
4.2
Sum X:
75.53333333
Sum Y:
83.53333333
RMS X:
1.378358812
RMS Y:
1.465692317
94
98
104
109
114
122
124
130
135
78
80
79
77
75
70
68
63
62
93.4
98.4
103.8
109.4
114.6
119.8
125
129.6666667
135
77.4
78.2
77.8
76.2
73.8
70.6
67.6
64.33333333
62
0.6
-0.4
0.2
-0.4
-0.6
2.2
-1
0.333333333
0
0.6
1.8
1.2
0.8
1.2
-0.6
0.4
-1.333333333
0
0.6
0.4
0.2
0.4
0.6
2.2
1
0.333333333
0
0.6
1.8
1.2
0.8
1.2
0.6
0.4
1.333333333
0

140
120
Y-coordinate
100
80
Moving Average
Kalman Filter
60
40
20
50
70
90
110
130
150
170
X-coordinate

140
120
Y-coordinate
100
80
Moving Average
Raw Data
60
40
20
50
70
90
110
X-coordinate
130
150
170
Trial 4:
Kalman Filter Data:
Kalman:
X
103
109
115
120
124
128
132
136
141
145
146
149
151
152
154
156
159
159
157
155
150
143
137
131
126
121
118
116
112
109
109
109
109
111
114
116
117
116
115
111
106
102
96
89
84
81
77
74
72
71
71
73
75
78
81
86
90
95
Moving
Average X:
Moving
Average Y:
Difference
X:
Difference Y:
Difference X
(abs):
Difference Y
(abs):
Y
83
80
75
71
68
65
61
58
57
57
59
62
66
70
74
79
84
91
100
107
113
119
122
123
120
116
114
106
99
91
83
74
69
64
60
57
52
49
46
40
36
33
32
31
32
32
36
41
45
49
56
63
68
74
78
80
82
83
103
109
114.2
119.2
123.8
128
132.2
136.4
140
143.4
146.4
148.6
150.4
152.4
154.4
156
157
157.2
156
152.8
148.4
143.2
137.4
131.6
126.6
122.4
118.6
115.2
112.8
111
109.6
109.4
110.4
111.8
113.4
114.8
115.6
115
113
110
106
100.8
95.4
90.4
85.4
81
77.6
75
73
72.2
72.4
73.6
75.6
78.6
82
86
90.4
95.4
83
79.33333333
75.4
71.8
68
64.6
61.8
59.6
58.4
58.6
60.2
62.8
66.2
70.2
74.6
79.6
85.6
92.2
99
106
112.2
116.8
119.4
120
119
115.8
111
105.2
98.6
90.6
83.2
76.2
70
64.8
60.4
56.4
52.8
48.8
44.6
40.8
37.4
34.4
32.8
32
32.6
34.4
37.2
40.6
45.4
50.8
56.2
62
67.8
72.6
76.4
79.4
81
81.4
0
0
0.8
0.8
0.2
0
-0.2
-0.4
1
1.6
-0.4
0.4
0.6
-0.4
-0.4
0
2
1.8
1
2.2
1.6
-0.2
-0.4
-0.6
-0.6
-1.4
-0.6
0.8
-0.8
-2
-0.6
-0.4
-1.4
-0.8
0.6
1.2
1.4
1
2
1
0
1.2
0.6
-1.4
-1.4
0
-0.6
-1
-1
-1.2
-1.4
-0.6
-0.6
-0.6
-1
0
-0.4
-0.4
0
0.666666667
-0.4
-0.8
0
0.4
-0.8
-1.6
-1.4
-1.6
-1.2
-0.8
-0.2
-0.2
-0.6
-0.6
-1.6
-1.2
1
1
0.8
2.2
2.6
3
1
0.2
3
0.8
0.4
0.4
-0.2
-2.2
-1
-0.8
-0.4
0.6
-0.8
0.2
1.4
-0.8
-1.4
-1.4
-0.8
-1
-0.6
-2.4
-1.2
0.4
-0.4
-1.8
-0.2
1
0.2
1.4
1.6
0.6
1
1.6
0
0
0.8
0.8
0.2
0
0.2
0.4
1
1.6
0.4
0.4
0.6
0.4
0.4
0
2
1.8
1
2.2
1.6
0.2
0.4
0.6
0.6
1.4
0.6
0.8
0.8
2
0.6
0.4
1.4
0.8
0.6
1.2
1.4
1
2
1
0
1.2
0.6
1.4
1.4
0
0.6
1
1
1.2
1.4
0.6
0.6
0.6
1
0
0.4
0.4
0
0.666666667
0.4
0.8
0
0.4
0.8
1.6
1.4
1.6
1.2
0.8
0.2
0.2
0.6
0.6
1.6
1.2
1
1
0.8
2.2
2.6
3
1
0.2
3
0.8
0.4
0.4
0.2
2.2
1
0.8
0.4
0.6
0.8
0.2
1.4
0.8
1.4
1.4
0.8
1
0.6
2.4
1.2
0.4
0.4
1.8
0.2
1
0.2
1.4
1.6
0.6
1
1.6
Statistics:
Mean:
0.920187793
Maximum:
3
Sum:
130.6666667
RMS:
1.144244631
Mean X:
0.792488263
Mean Y:
1.047887324
Maximum X:
2.2
Maximum Y:
3
Sum X:
56.26666667
Sum Y:
74.4
RMS X:
0.994381714
RMS Y:
1.276634857
100
106
110
118
125
131
138
144
151
154
157
158
157
82
80
77
72
66
62
60
61
65
69
75
79
82
100.2
105.8
111.8
118
124.4
131.2
137.8
143.6
148.8
152.8
155.4
157.3333333
157
80.8
78.8
75.4
71.4
67.4
64.2
62.8
63.4
66
69.8
74
78.66666667
82
-0.2
0.2
-1.8
0
0.6
-0.2
0.2
0.4
2.2
1.2
1.6
0.666666667
0
1.2
1.2
1.6
0.6
-1.4
-2.2
-2.8
-2.4
-1
-0.8
1
0.333333333
0
0.2
0.2
1.8
0
0.6
0.2
0.2
0.4
2.2
1.2
1.6
0.666666667
0
1.2
1.2
1.6
0.6
1.4
2.2
2.8
2.4
1
0.8
1
0.333333333
0

Raw:
X
104
109
116
120
124
128
132
137
141
145
145
149
151
151
155
157
159
159
155
153
148
140
136
131
126
121
121
117
113
110
111
111
110
114
117
116
117
115
114
109
104
101
95
88
85
83
77
76
74
73
74
76
77
80
83
88
92
97
101
107
111
Moving
Average X:
Y
84
80
75
71
70
66
61
58
59
59
62
65
69
72
76
80
86
94
103
108
113
119
120
120
116
113
113
102
96
90
81
73
71
66
62
59
52
50
47
40
36
35
34
33
34
34
39
45
47
50
60
64
69
75
77
79
80
82
80
78
75
104
109.6666667
114.6
119.4
124
128.2
132.4
136.6
140
143.4
146.2
148.2
150.2
152.6
154.6
156.2
157
156.6
154.8
151
146.4
141.6
136.2
130.8
127
123.2
119.6
116.4
114.4
112.4
111
111.2
112.6
113.6
114.8
115.8
115.8
114.2
111.8
108.6
104.6
99.4
94.6
90.4
85.6
81.8
79
76.6
74.8
74.6
74.8
76
78
80.8
84
88
92.2
97
101.6
107.2
113
Moving
Average Y:
84
79.66666667
76
72.4
68.6
65.2
62.8
60.6
59.8
60.6
62.8
65.4
68.8
72.4
76.6
81.6
87.8
94.2
100.8
107.4
112.6
116
117.6
117.6
116.4
112.8
108
102.8
96.4
88.4
82.2
76.2
70.6
66.2
62
57.8
54
49.6
45
41.6
38.4
35.6
34.4
34
34.8
37
39.8
43
48.2
53.2
58
63.6
69
72.8
76
78.6
79.6
79.8
79
77
73.4
Difference
X:
0
-0.666666667
1.4
0.6
0
-0.2
-0.4
0.4
1
1.6
-1.2
0.8
0.8
-1.6
0.4
0.8
2
2.4
0.2
2
1.6
-1.6
-0.2
0.2
-1
-2.2
1.4
0.6
-1.4
-2.4
0
-0.2
-2.6
0.4
2.2
0.2
1.2
0.8
2.2
0.4
-0.6
1.6
0.4
-2.4
-0.6
1.2
-2
-0.6
-0.8
-1.6
-0.8
0
-1
-0.8
-1
0
-0.2
0
-0.6
-0.2
-2
Difference
Y:
0
0.333333333
-1
-1.4
1.4
0.8
-1.8
-2.6
-0.8
-1.6
-0.8
-0.4
0.2
-0.4
-0.6
-1.6
-1.8
-0.2
2.2
0.6
0.4
3
2.4
2.4
-0.4
0.2
5
-0.8
-0.4
1.6
-1.2
-3.2
0.4
-0.2
0
1.2
-2
0.4
2
-1.6
-2.4
-0.6
-0.4
-1
-0.8
-3
-0.8
2
-1.2
-3.2
2
0.4
0
2.2
1
0.4
0.4
2.2
1
1
1.6
Difference X
(abs):
0
0.666666667
1.4
0.6
0
0.2
0.4
0.4
1
1.6
1.2
0.8
0.8
1.6
0.4
0.8
2
2.4
0.2
2
1.6
1.6
0.2
0.2
1
2.2
1.4
0.6
1.4
2.4
0
0.2
2.6
0.4
2.2
0.2
1.2
0.8
2.2
0.4
0.6
1.6
0.4
2.4
0.6
1.2
2
0.6
0.8
1.6
0.8
0
1
0.8
1
0
0.2
0
0.6
0.2
2
Difference Y
(abs):
0
0.333333333
1
1.4
1.4
0.8
1.8
2.6
0.8
1.6
0.8
0.4
0.2
0.4
0.6
1.6
1.8
0.2
2.2
0.6
0.4
3
2.4
2.4
0.4
0.2
5
0.8
0.4
1.6
1.2
3.2
0.4
0.2
0
1.2
2
0.4
2
1.6
2.4
0.6
0.4
1
0.8
3
0.8
2
1.2
3.2
2
0.4
0
2.2
1
0.4
0.4
2.2
1
1
1.6
Statistics:
Mean:
1.11971831
Maximum:
5
Sum:
159
RMS:
1.424917975
Mean X:
0.984037559
Mean Y:
1.255399061
Maximum X:
2.6
Maximum Y:
5
Sum X:
69.86666667
Sum Y:
89.13333333
RMS X:
1.223504804
RMS Y:
1.601192826
120
126
131
139
145
151
153
155
156
154
70
64
62
62
65
69
73
78
81
81
119
125.4
132.2
138.4
143.8
148.6
152
153.8
155
154
69.8
66.6
64.6
64.4
66.2
69.4
73.2
76.4
80
81
1
0.6
-1.2
0.6
1.2
2.4
1
1.2
1
0
0.2
-2.6
-2.6
-2.4
-1.2
-0.4
-0.2
1.6
1
0
1
0.6
1.2
0.6
1.2
2.4
1
1.2
1
0
0.2
2.6
2.6
2.4
1.2
0.4
0.2
1.6
1
0

140
120
Y-coordinate
100
80
Moving Average
Kalman Filter
60
40
20
50
70
90
110
130
150
170
X-coordinate

140
120
Y-coordinate
100
80
Moving Average
Raw Data
60
40
20
50
70
90
110
X-coordinate
130
150
170
Trial 5:
Kalman Filter Data:
Kalman:
X
106
103
99
95
91
89
87
85
82
79
76
73
71
68
67
67
69
70
72
73
77
80
85
90
96
100
104
107
111
115
117
122
127
134
140
145
150
154
158
160
161
160
157
155
149
142
136
130
125
121
118
115
113
113
113
115
116
117
Moving Average
X:
Moving Average
Y:
Difference
X:
Difference
Y:
Difference X
(abs):
Difference Y
(abs):
Y
30
29
28
28
27
28
29
30
30
32
34
37
41
45
47
54
60
64
69
72
75
78
81
84
86
84
81
78
76
73
68
64
61
60
59
59
61
64
69
75
80
86
91
96
102
106
108
109
107
105
101
96
90
83
77
72
66
61
106
102.6666667
98.8
95.4
92.2
89.4
86.8
84.4
81.8
79
76.2
73.4
71
69.2
68.4
68.2
69
70.2
72.2
74.4
77.4
81
85.6
90.2
95
99.4
103.6
107.4
110.8
114.4
118.4
123
128
133.6
139.2
144.6
149.4
153.4
156.6
158.6
159.2
158.6
156.4
152.6
147.8
142.4
136.4
130.8
126
121.8
118.4
116
114.4
113.8
114
114.8
115.6
116.4
30
29
28.4
28
28
28.4
28.8
29.8
31
32.6
34.8
37.8
40.8
44.8
49.4
54
58.8
63.8
68
71.6
75
78
80.8
82.6
83.2
82.6
81
78.4
75.2
71.8
68.4
65.2
62.4
60.6
60
60.6
62.4
65.6
69.8
74.8
80.2
85.6
91
96.2
100.6
104.2
106.4
107
106
103.6
99.8
95
89.4
83.6
77.6
71.8
66
60.4
0
0.333333333
0.2
-0.4
-1.2
-0.4
0.2
0.6
0.2
0
-0.2
-0.4
0
-1.2
-1.4
-1.2
0
-0.2
-0.2
-1.4
-0.4
-1
-0.6
-0.2
1
0.6
0.4
-0.4
0.2
0.6
-1.4
-1
-1
0.4
0.8
0.4
0.6
0.6
1.4
1.4
1.8
1.4
0.6
2.4
1.2
-0.4
-0.4
-0.8
-1
-0.8
-0.4
-1
-1.4
-0.8
-1
0.2
0.4
0.6
0
0
-0.4
0
-1
-0.4
0.2
0.2
-1
-0.6
-0.8
-0.8
0.2
0.2
-2.4
0
1.2
0.2
1
0.4
0
0
0.2
1.4
2.8
1.4
0
-0.4
0.8
1.2
-0.4
-1.2
-1.4
-0.6
-1
-1.6
-1.4
-1.6
-0.8
0.2
-0.2
0.4
0
-0.2
1.4
1.8
1.6
2
1
1.4
1.2
1
0.6
-0.6
-0.6
0.2
0
0.6
0
0.333333333
0.2
0.4
1.2
0.4
0.2
0.6
0.2
0
0.2
0.4
0
1.2
1.4
1.2
0
0.2
0.2
1.4
0.4
1
0.6
0.2
1
0.6
0.4
0.4
0.2
0.6
1.4
1
1
0.4
0.8
0.4
0.6
0.6
1.4
1.4
1.8
1.4
0.6
2.4
1.2
0.4
0.4
0.8
1
0.8
0.4
1
1.4
0.8
1
0.2
0.4
0.6
0
0
0.4
0
1
0.4
0.2
0.2
1
0.6
0.8
0.8
0.2
0.2
2.4
0
1.2
0.2
1
0.4
0
0
0.2
1.4
2.8
1.4
0
0.4
0.8
1.2
0.4
1.2
1.4
0.6
1
1.6
1.4
1.6
0.8
0.2
0.2
0.4
0
0.2
1.4
1.8
1.6
2
1
1.4
1.2
1
0.6
0.6
0.6
0.2
0
0.6
Statistics:
Mean:
0.714215686
Maximum:
2.8
Sum:
97.13333333
RMS:
0.910523085
Mean X:
0.690196078
Mean Y:
0.738235294
Maximum X:
2.4
Maximum Y:
2.8
Sum X:
46.93333333
Sum Y:
50.2
RMS X:
0.848451107
RMS Y:
0.968625466
117
117
115
113
110
105
101
95
91
87
54
49
44
40
35
32
30
29
29
29
116.4
115.8
114.4
112
108.8
104.8
100.4
95.8
91
87
54.8
49.6
44.4
40
36.2
33.2
31
29.8
29
29
0.6
1.2
0.6
1
1.2
0.2
0.6
-0.8
0
0
-0.8
-0.6
-0.4
0
-1.2
-1.2
-1
-0.8
0
0
0.6
1.2
0.6
1
1.2
0.2
0.6
0.8
0
0
0.8
0.6
0.4
0
1.2
1.2
1
0.8
0
0

Raw:
X
107
102
99
95
91
90
88
86
83
78
76
73
72
69
69
68
72
72
74
74
79
81
88
91
98
100
104
107
111
115
117
124
128
137
140
145
151
153
158
159
159
158
155
153
146
140
134
130
126
123
119
117
115
115
116
117
118
117
117
117
Moving Average
X:
Moving Average
Y:
Difference
X:
Difference
Y:
0
0.666666667
0.2
-0.4
-1.6
0
0.4
1
0.8
-1.2
-0.4
-0.6
0.2
-1.2
-1
-2
1
0
-0.2
-2
-0.2
-1.6
0.6
-0.6
1.8
0
0
-0.4
0.2
0.2
-2
-0.2
-1.2
2.2
-0.2
-0.2
1.6
-0.2
2
1.6
1.2
1.2
0.8
2.6
0.4
-0.6
-1.2
-0.6
-0.4
0
-1
-0.8
-1.4
-1
-0.2
0.4
1
-0.2
0.4
1.4
0
0.666666667
0
-0.6
-0.8
-0.2
0.2
0.2
-1.2
-1
-0.2
-0.4
-0.2
0.4
-4
2.4
1
0
0.6
0.2
0
0
0.4
2.2
3
-0.2
-0.4
0.2
1.2
1.2
-1.8
-1.2
-0.8
0.2
-1.8
-1.8
-1
-1.4
0.4
-0.2
-0.2
0.2
0
-0.6
2.6
1.6
0.8
2
1.2
0.8
1.6
0.2
0.2
-0.6
-0.2
1.2
-0.2
0.2
-1.2
-0.2
Difference X
(abs):
Difference Y
(abs):
Y
31
107
31
29
29
28
28
29
30
31
31
33
36
39
42
47
47
58
61
65
69
72
75
78
81
84
85
81
79
77
75
72
66
64
62
62
60
61
64
67
73
77
82
87
92
96
103
105
106
107
105
102
99
93
88
82
77
73
66
61
54
50
102.6666667
98.8
95.4
92.6
90
87.6
85
82.2
79.2
76.4
73.6
71.8
70.2
70
70
71
72
74.2
76
79.2
82.6
87.4
91.6
96.2
100
104
107.4
110.8
114.8
119
124.2
129.2
134.8
140.2
145.2
149.4
153.2
156
157.4
157.8
156.8
154.2
150.4
145.6
140.6
135.2
130.6
126.4
123
120
117.8
116.4
116
116.2
116.6
117
117.2
116.6
115.6
29.66666667
29
28.6
28.8
29.2
29.8
30.8
32.2
34
36.2
39.4
42.2
46.6
51
55.6
60
65
68.4
71.8
75
78
80.6
81.8
82
81.2
79.4
76.8
73.8
70.8
67.8
65.2
62.8
61.8
61.8
62.8
65
68.4
72.6
77.2
82.2
86.8
92
96.6
100.4
103.4
105.2
105
103.8
101.2
97.4
92.8
87.8
82.6
77.2
71.8
66.2
60.8
55.2
50.2
0.666666667
0.2
0.4
1.6
0
0.4
1
0.8
1.2
0.4
0.6
0.2
1.2
1
2
1
0
0.2
2
0.2
1.6
0.6
0.6
1.8
0
0
0.4
0.2
0.2
2
0.2
1.2
2.2
0.2
0.2
1.6
0.2
2
1.6
1.2
1.2
0.8
2.6
0.4
0.6
1.2
0.6
0.4
0
1
0.8
1.4
1
0.2
0.4
1
0.2
0.4
1.4
0.666666667
0
0.6
0.8
0.2
0.2
0.2
1.2
1
0.2
0.4
0.2
0.4
4
2.4
1
0
0.6
0.2
0
0
0.4
2.2
3
0.2
0.4
0.2
1.2
1.2
1.8
1.2
0.8
0.2
1.8
1.8
1
1.4
0.4
0.2
0.2
0.2
0
0.6
2.6
1.6
0.8
2
1.2
0.8
1.6
0.2
0.2
0.6
0.2
1.2
0.2
0.2
1.2
0.2
Statistics:
Mean:
0.800980392
Maximum:
4
Sum:
108.9333333
RMS:
1.08549558
Mean X:
0.809803922
Mean Y:
0.792156863
Maximum X:
2.6
Maximum Y:
4
Sum X:
55.06666667
Sum Y:
53.86666667
RMS X:
1.039544898
RMS Y:
1.129578555
114
113
109
103
100
94
92
87
45
41
36
34
32
31
31
31
114
111.2
107.8
103.8
99.6
95.2
91
87
45.2
41.2
37.6
34.8
32.8
31.8
31
31
0
1.8
1.2
-0.8
0.4
-1.2
1
0
-0.2
-0.2
-1.6
-0.8
-0.8
-0.8
0
0
0
1.8
1.2
0.8
0.4
1.2
1
0
0.2
0.2
1.6
0.8
0.8
0.8
0
0

140
120
Y-coordinate
100
80
Moving Average
Kalman Filter
60
40
20
50
70
90
110
130
150
170
X-coordinate

140
120
Y-coordinate
100
80
Moving Average
Raw Data
60
40
20
50
70
90
110
X-coordinate
130
150
170
Heart 1:
Trial 1:
Kalman Filter Data:
Kalman:
X
148
154
156
161
165
170
173
177
181
184
189
193
197
199
200
203
205
205
205
203
202
200
199
199
199
198
196
194
192
190
188
184
181
177
173
169
165
160
155
151
147
143
140
137
133
129
126
121
116
112
108
104
102
100
96
93
91
89
Moving
Average X:
Moving
Average Y:
Difference X:
Difference Y:
0
1.333333333
-0.8
-0.2
0
0.8
-0.2
0
0.2
-0.8
0.2
0.6
1.4
0.6
-0.8
0.6
1.4
0.8
1
0
0.2
-0.6
-0.8
0
0.8
0.8
0.2
0
0
0.4
1
0
0.4
0.2
0
0.2
0.6
0
-0.6
-0.2
-0.2
-0.6
0
0.6
0
-0.2
1
0.2
-0.6
-0.2
-0.4
-1.2
0
1
-0.4
-0.8
-0.6
-1.2
0
0.333333333
0
-1
-1.6
-1.2
-1
-0.6
0
-0.8
0
-0.6
-1
-1.4
-1.4
1.2
0.6
0
-0.2
-0.8
-1
-1
-0.8
0.6
2.4
1
0.2
-0.8
0.6
0.8
-1.4
-0.6
0
0.4
0.8
-0.6
0.4
1.2
1.6
1.4
1.6
0.8
-0.2
0
-0.4
1.2
0.6
1.4
0
-0.4
-0.4
0.6
0.8
0
-1
-1.2
0.4
1
Difference X
(abs):
Difference Y
(abs):
Y
47
43
38
33
29
27
26
26
27
27
29
30
32
35
39
46
50
54
58
62
67
73
80
88
96
100
104
107
112
116
118
123
128
133
138
141
146
150
153
154
154
152
149
147
144
143
139
136
130
125
120
116
111
105
99
94
91
87
148
152.6666667
156.8
161.2
165
169.2
173.2
177
180.8
184.8
188.8
192.4
195.6
198.4
200.8
202.4
203.6
204.2
204
203
201.8
200.6
199.8
199
198.2
197.2
195.8
194
192
189.6
187
184
180.6
176.8
173
168.8
164.4
160
155.6
151.2
147.2
143.6
140
136.4
133
129.2
125
120.8
116.6
112.2
108.4
105.2
102
99
96.4
93.8
91.6
90.2
47
42.66666667
38
34
30.6
28.2
27
26.6
27
27.8
29
30.6
33
36.4
40.4
44.8
49.4
54
58.2
62.8
68
74
80.8
87.4
93.6
99
103.8
107.8
111.4
115.2
119.4
123.6
128
132.6
137.2
141.6
145.6
148.8
151.4
152.6
152.4
151.2
149.2
147
144.4
141.8
138.4
134.6
130
125.4
120.4
115.4
110.2
105
100
95.2
90.6
86
0
1.333333333
0.8
0.2
0
0.8
0.2
0
0.2
0.8
0.2
0.6
1.4
0.6
0.8
0.6
1.4
0.8
1
0
0.2
0.6
0.8
0
0.8
0.8
0.2
0
0
0.4
1
0
0.4
0.2
0
0.2
0.6
0
0.6
0.2
0.2
0.6
0
0.6
0
0.2
1
0.2
0.6
0.2
0.4
1.2
0
1
0.4
0.8
0.6
1.2
0
0.333333333
0
1
1.6
1.2
1
0.6
0
0.8
0
0.6
1
1.4
1.4
1.2
0.6
0
0.2
0.8
1
1
0.8
0.6
2.4
1
0.2
0.8
0.6
0.8
1.4
0.6
0
0.4
0.8
0.6
0.4
1.2
1.6
1.4
1.6
0.8
0.2
0
0.4
1.2
0.6
1.4
0
0.4
0.4
0.6
0.8
0
1
1.2
0.4
1
Statistics:
Mean:
0.620599251
Maximum:
2.4
Sum:
110.4666667
RMS:
0.792678734
Mean X:
0.522097378
Mean Y:
0.719101124
Maximum X:
1.8
Maximum Y:
2.4
Sum X:
46.46666667
Sum Y:
64
RMS X:
0.684079706
RMS Y:
0.888095776
89
89
87
87
85
87
88
92
96
100
103
106
110
115
118
122
125
129
133
135
139
143
146
147
148
150
152
152
152
150
147
82
76
70
64
58
52
47
43
39
36
32
30
28
26
25
26
28
28
30
34
38
42
45
46
49
52
56
58
57
57
55
89
88.2
87.4
87
86.8
87.8
89.6
92.6
95.8
99.4
103
106.8
110.4
114.2
118
121.8
125.4
128.8
132.2
135.8
139.2
142
144.6
146.8
148.6
149.8
150.8
151.2
150.6
149.6666667
147
81.2
75.8
70
64
58.2
52.8
47.8
43.4
39.4
36
33
30.4
28.2
27
26.6
26.6
27.4
29.2
31.6
34.4
37.8
41
44
46.8
49.6
52.2
54.4
56
56.6
56.33333333
55
0
0.8
-0.4
0
-1.8
-0.8
-1.6
-0.6
0.2
0.6
0
-0.8
-0.4
0.8
0
0.2
-0.4
0.2
0.8
-0.8
-0.2
1
1.4
0.2
-0.6
0.2
1.2
0.8
1.4
0.333333333
0
0.8
0.2
0
0
-0.2
-0.8
-0.8
-0.4
-0.4
0
-1
-0.4
-0.2
-1
-1.6
-0.6
0.6
-1.2
-1.6
-0.4
0.2
1
1
-0.8
-0.6
-0.2
1.6
2
0.4
0.666666667
0
0
0.8
0.4
0
1.8
0.8
1.6
0.6
0.2
0.6
0
0.8
0.4
0.8
0
0.2
0.4
0.2
0.8
0.8
0.2
1
1.4
0.2
0.6
0.2
1.2
0.8
1.4
0.333333333
0
0.8
0.2
0
0
0.2
0.8
0.8
0.4
0.4
0
1
0.4
0.2
1
1.6
0.6
0.6
1.2
1.6
0.4
0.2
1
1
0.8
0.6
0.2
1.6
2
0.4
0.666666667
0

Raw:
X
149
155
156
162
166
171
173
177
181
184
190
193
198
198
199
204
205
204
204
201
202
200
199
201
199
198
196
193
192
190
188
183
181
176
173
169
165
159
155
152
148
144
141
138
133
130
126
120
117
113
108
104
105
101
95
94
92
91
91
90
88
Moving
Average X:
Y
47
43
38
34
30
29
28
29
29
29
30
31
33
38
41
50
50
55
58
62
68
75
82
90
97
99
102
107
113
115
118
124
130
134
138
141
147
150
153
153
152
149
147
146
144
143
139
135
129
124
120
117
111
105
99
95
93
87
82
75
70
149
153.3333333
157.6
162
165.6
169.8
173.6
177.2
181
185
189.2
192.6
195.6
198.4
200.8
202
203.2
203.6
203.2
202.2
201.2
200.6
200.2
199.4
198.6
197.4
195.6
193.8
191.8
189.2
186.8
183.6
180.2
176.4
172.8
168.4
164.2
160
155.8
151.6
148
144.6
140.8
137.2
133.6
129.4
125.2
121.2
116.8
112.4
109.4
106.2
102.6
99.8
97.4
94.6
92.6
91.6
90.4
89.6
88.4
Moving
Average Y:
47
42.66666667
38.4
34.8
31.8
30
29
28.8
29
29.6
30.4
32.2
34.6
38.6
42.4
46.8
50.8
55
58.6
63.6
69
75.4
82.4
88.6
94
99
103.6
107.2
111
115.4
120
124.2
128.8
133.4
138
142
145.8
148.8
151
151.4
150.8
149.4
147.6
145.8
143.8
141.4
138
134
129.4
125
120.2
115.4
110.4
105.4
100.6
95.8
91.2
86.4
81.4
75.6
69.8
Difference X:
0
1.666666667
-1.6
0
0.4
1.2
-0.6
-0.2
0
-1
0.8
0.4
2.4
-0.4
-1.8
2
1.8
0.4
0.8
-1.2
0.8
-0.6
-1.2
1.6
0.4
0.6
0.4
-0.8
0.2
0.8
1.2
-0.6
0.8
-0.4
0.2
0.6
0.8
-1
-0.8
0.4
0
-0.6
0.2
0.8
-0.6
0.6
0.8
-1.2
0.2
0.6
-1.4
-2.2
2.4
1.2
-2.4
-0.6
-0.6
-0.6
0.6
0.4
-0.4
Difference Y:
0
0.333333333
-0.4
-0.8
-1.8
-1
-1
0.2
0
-0.6
-0.4
-1.2
-1.6
-0.6
-1.4
3.2
-0.8
0
-0.6
-1.6
-1
-0.4
-0.4
1.4
3
0
-1.6
-0.2
2
-0.4
-2
-0.2
1.2
0.6
0
-1
1.2
1.2
2
1.6
1.2
-0.4
-0.6
0.2
0.2
1.6
1
1
-0.4
-1
-0.2
1.6
0.6
-0.4
-1.6
-0.8
1.8
0.6
0.6
-0.6
0.2
Difference X
(abs):
0
1.666666667
1.6
0
0.4
1.2
0.6
0.2
0
1
0.8
0.4
2.4
0.4
1.8
2
1.8
0.4
0.8
1.2
0.8
0.6
1.2
1.6
0.4
0.6
0.4
0.8
0.2
0.8
1.2
0.6
0.8
0.4
0.2
0.6
0.8
1
0.8
0.4
0
0.6
0.2
0.8
0.6
0.6
0.8
1.2
0.2
0.6
1.4
2.2
2.4
1.2
2.4
0.6
0.6
0.6
0.6
0.4
0.4
Difference Y
(abs):
0
0.333333333
0.4
0.8
1.8
1
1
0.2
0
0.6
0.4
1.2
1.6
0.6
1.4
3.2
0.8
0
0.6
1.6
1
0.4
0.4
1.4
3
0
1.6
0.2
2
0.4
2
0.2
1.2
0.6
0
1
1.2
1.2
2
1.6
1.2
0.4
0.6
0.2
0.2
1.6
1
1
0.4
1
0.2
1.6
0.6
0.4
1.6
0.8
1.8
0.6
0.6
0.6
0.2
Statistics:
Mean:
0.856179775
Maximum:
3.2
Sum:
152.4
RMS:
1.085254706
Mean X:
0.829213483
Mean Y:
0.883146067
Maximum X:
3.2
Maximum Y:
3.2
Sum X:
73.8
Sum Y:
78.6
RMS X:
1.041006907
RMS Y:
1.127767784
88
85
90
90
95
99
102
103
107
111
116
119
122
126
130
133
135
140
143
146
146
148
150
152
152
151
149
146
64
58
53
48
44
41
38
33
32
30
27
27
29
30
29
32
36
40
43
45
46
49
53
57
57
56
56
54
88.2
88.2
89.6
91.8
95.2
97.8
101.2
104.4
107.8
111.2
115
118.8
122.6
126
129.2
132.8
136.2
139.4
142
144.6
146.6
148.4
149.6
150.6
150.8
150
148.6666667
146
64
58.6
53.4
48.8
44.8
40.8
37.6
34.8
32
29.8
29
28.6
28.4
29.4
31.2
33.4
36
39.2
42
44.6
47.2
50
52.4
54.4
55.8
56
55.33333333
54
-0.2
-3.2
0.4
-1.8
-0.2
1.2
0.8
-1.4
-0.8
-0.2
1
0.2
-0.6
0
0.8
0.2
-1.2
0.6
1
1.4
-0.6
-0.4
0.4
1.4
1.2
1
0.333333333
0
0
-0.6
-0.4
-0.8
-0.8
0.2
0.4
-1.8
0
0.2
-2
-1.6
0.6
0.6
-2.2
-1.4
0
0.8
1
0.4
-1.2
-1
0.6
2.6
1.2
0
0.666666667
0
0.2
3.2
0.4
1.8
0.2
1.2
0.8
1.4
0.8
0.2
1
0.2
0.6
0
0.8
0.2
1.2
0.6
1
1.4
0.6
0.4
0.4
1.4
1.2
1
0.333333333
0
0
0.6
0.4
0.8
0.8
0.2
0.4
1.8
0
0.2
2
1.6
0.6
0.6
2.2
1.4
0
0.8
1
0.4
1.2
1
0.6
2.6
1.2
0
0.666666667
0
Heart 1 Trial 1 Kalman Filter

160
140
Y-coordinate
120
100
Moving Average
80
Kalman Filter
60
40
20
50
100
150
200
250
X-coordinate
Heart 1 Trial 1 Raw Measurement

160
140
Y-coordinate
120
100
Moving Average
80
Raw Data
60
40
20
50
100
150
X-coordinate
200
250
Trial 2:
Kalman Filter:
Kalman:
X
146
148
148
148
143
139
134
130
126
121
117
112
107
103
98
95
92
91
88
85
83
84
85
87
89
93
97
101
105
107
109
110
113
115
118
120
122
125
129
132
137
140
143
145
148
150
150
151
152
153
155
156
159
162
165
169
172
174
Moving Average
X:
Moving Average
Y:
Difference
X:
Difference
Y:
Difference X
(abs):
Difference Y
(abs):
Y
55
56
57
55
50
44
39
33
30
29
27
27
27
27
30
33
34
39
46
53
60
65
69
73
76
83
89
96
102
109
115
118
124
128
131
133
136
139
143
146
149
151
153
156
158
159
159
157
156
155
154
153
152
150
147
143
139
136
146
147.3333333
146.6
145.2
142.4
138.8
134.4
130
125.6
121.2
116.6
112
107.4
103
99
95.8
92.8
90.2
87.8
86.2
85
84.8
85.6
87.6
90.2
93.4
97
100.6
103.8
106.4
108.8
110.8
113
115.2
117.6
120
122.8
125.6
129
132.6
136.2
139.4
142.6
145.2
147.2
148.8
150.2
151.2
152.2
153.4
155
157
159.4
162.2
165.4
168.4
171.4
173.6
55
56
54.6
52.4
49
44.2
39.2
35
31.6
29.2
28
27.4
27.6
28.8
30.2
32.6
36.4
41
46.4
52.6
58.6
64
68.6
73.2
78
83.4
89.2
95.8
102.2
108
113.6
118.8
123.2
126.8
130.4
133.4
136.4
139.4
142.6
145.6
148.4
151
153.4
155.4
157
157.8
157.8
157.2
156.2
155
154
152.8
151.2
149
146.2
143
139.8
136.6
0
0.666666667
1.4
2.8
0.6
0.2
-0.4
0
0.4
-0.2
0.4
0
-0.4
0
-1
-0.8
-0.8
0.8
0.2
-1.2
-2
-0.8
-0.6
-0.6
-1.2
-0.4
0
0.4
1.2
0.6
0.2
-0.8
0
-0.2
0.4
0
-0.8
-0.6
0
-0.6
0.8
0.6
0.4
-0.2
0.8
1.2
-0.2
-0.2
-0.2
-0.4
0
-1
-0.4
-0.2
-0.4
0.6
0.6
0.4
0
0
2.4
2.6
1
-0.2
-0.2
-2
-1.6
-0.2
-1
-0.4
-0.6
-1.8
-0.2
0.4
-2.4
-2
-0.4
0.4
1.4
1
0.4
-0.2
-2
-0.4
-0.2
0.2
-0.2
1
1.4
-0.8
0.8
1.2
0.6
-0.4
-0.4
-0.4
0.4
0.4
0.6
0
-0.4
0.6
1
1.2
1.2
-0.2
-0.2
0
0
0.2
0.8
1
0.8
0
-0.8
-0.6
0
0.666666667
1.4
2.8
0.6
0.2
0.4
0
0.4
0.2
0.4
0
0.4
0
1
0.8
0.8
0.8
0.2
1.2
2
0.8
0.6
0.6
1.2
0.4
0
0.4
1.2
0.6
0.2
0.8
0
0.2
0.4
0
0.8
0.6
0
0.6
0.8
0.6
0.4
0.2
0.8
1.2
0.2
0.2
0.2
0.4
0
1
0.4
0.2
0.4
0.6
0.6
0.4
0
0
2.4
2.6
1
0.2
0.2
2
1.6
0.2
1
0.4
0.6
1.8
0.2
0.4
2.4
2
0.4
0.4
1.4
1
0.4
0.2
2
0.4
0.2
0.2
0.2
1
1.4
0.8
0.8
1.2
0.6
0.4
0.4
0.4
0.4
0.4
0.6
0
0.4
0.6
1
1.2
1.2
0.2
0.2
0
0
0.2
0.8
1
0.8
0
0.8
0.6
Statistics:
Mean:
0.613513514
Maximum:
2.8
Sum:
136.2
RMS:
0.818027609
Mean X:
0.547747748
Mean Y:
0.679279279
Maximum X:
2.8
Maximum Y:
2.6
Sum X:
60.8
Sum Y:
75.4
RMS X:
0.732486544
RMS Y:
0.895433862
177
176
180
181
185
188
191
192
195
196
198
200
201
203
204
205
204
205
206
206
207
207
207
207
204
204
201
198
195
192
188
184
180
174
171
167
163
162
156
152
149
147
147
148
148
149
149
149
149
149
149
149
148
134
131
127
124
121
119
117
115
111
108
104
101
97
94
91
88
85
81
76
72
64
59
53
47
41
36
32
28
26
24
24
24
25
27
27
29
31
32
38
43
48
51
52
54
54
54
52
52
51
52
51
51
48
175.8
177.6
179.8
182
185
187.4
190.2
192.4
194.4
196.2
198
199.6
201.2
202.6
203.4
204.2
204.8
205.2
205.6
206.2
206.6
206.8
206.4
205.8
204.6
202.8
200.4
198
194.8
191.4
187.8
183.6
179.4
175.2
171
167.4
163.8
160
156.4
153.2
150.2
148.6
147.8
147.8
148.2
148.6
148.8
149
149
149
148.8
148.6666667
148
133.4
130.4
127.4
124.4
121.6
119.2
116.6
114
111
107.8
104.2
100.8
97.4
94.2
91
87.8
84.2
80.4
75.6
70.4
64.8
59
52.8
47.2
41.8
36.8
32.6
29.2
26.8
25.2
24.6
24.8
25.4
26.4
27.8
29.2
31.4
34.6
38.4
42.4
46.4
49.6
51.8
53
53.2
53.2
52.6
52.2
51.6
51.4
50.6
50
48
1.2
-1.6
0.2
-1
0
0.6
0.8
-0.4
0.6
-0.2
0
0.4
-0.2
0.4
0.6
0.8
-0.8
-0.2
0.4
-0.2
0.4
0.2
0.6
1.2
-0.6
1.2
0.6
0
0.2
0.6
0.2
0.4
0.6
-1.2
0
-0.4
-0.8
2
-0.4
-1.2
-1.2
-1.6
-0.8
0.2
-0.2
0.4
0.2
0
0
0
0.2
0.333333333
0
0.6
0.6
-0.4
-0.4
-0.6
-0.2
0.4
1
0
0.2
-0.2
0.2
-0.4
-0.2
0
0.2
0.8
0.6
0.4
1.6
-0.8
0
0.2
-0.2
-0.8
-0.8
-0.6
-1.2
-0.8
-1.2
-0.6
-0.8
-0.4
0.6
-0.8
-0.2
-0.4
-2.6
-0.4
0.6
1.6
1.4
0.2
1
0.8
0.8
-0.6
-0.2
-0.6
0.6
0.4
1
0
1.2
1.6
0.2
1
0
0.6
0.8
0.4
0.6
0.2
0
0.4
0.2
0.4
0.6
0.8
0.8
0.2
0.4
0.2
0.4
0.2
0.6
1.2
0.6
1.2
0.6
0
0.2
0.6
0.2
0.4
0.6
1.2
0
0.4
0.8
2
0.4
1.2
1.2
1.6
0.8
0.2
0.2
0.4
0.2
0
0
0
0.2
0.333333333
0
0.6
0.6
0.4
0.4
0.6
0.2
0.4
1
0
0.2
0.2
0.2
0.4
0.2
0
0.2
0.8
0.6
0.4
1.6
0.8
0
0.2
0.2
0.8
0.8
0.6
1.2
0.8
1.2
0.6
0.8
0.4
0.6
0.8
0.2
0.4
2.6
0.4
0.6
1.6
1.4
0.2
1
0.8
0.8
0.6
0.2
0.6
0.6
0.4
1
0

Raw:
X
147
147
148
147
141
138
133
129
126
121
118
112
106
104
98
96
94
93
88
85
85
86
87
89
91
95
99
102
106
107
109
109
114
116
119
120
123
126
130
133
139
140
143
145
149
150
149
150
152
154
156
156
161
164
166
170
172
174
177
175
181
Moving
Average X:
Y
56
56
57
55
47
43
38
32
32
31
29
29
29
29
33
35
35
41
50
56
62
65
69
72
76
85
91
98
103
110
116
116
125
127
131
132
136
139
144
147
149
151
153
156
158
158
158
156
155
155
155
153
152
150
147
142
139
137
135
132
127
147
147.3333333
146
144.2
141.4
137.6
133.4
129.4
125.4
121.2
116.6
112.2
107.6
103.2
99.6
97
93.8
91.2
89
87.4
86.2
86.4
87.6
89.6
92.2
95.2
98.6
101.8
104.6
106.6
109
111
113.4
115.6
118.4
120.8
123.6
126.4
130.2
133.6
137
140
143.2
145.4
147.2
148.6
150
151
152.2
153.6
155.8
158.2
160.6
163.4
166.6
169.2
171.8
173.6
175.8
177.6
180.2
Moving
Average Y:
56
56.33333333
54.2
51.6
48
43
38.4
35.2
32.4
30.6
30
29.4
29.8
31
32.2
34.6
38.8
43.4
48.8
54.8
60.4
64.8
68.8
73.4
78.6
84.4
90.6
97.4
103.6
108.6
114
118.8
123
126.2
130.2
133
136.4
139.6
143
146
148.8
151.2
153.4
155.2
156.6
157.2
157
156.4
155.8
154.8
154
153
151.4
148.8
146
143
140
137
134
131.2
128.2
Difference
X:
0
-0.333333333
2
2.8
-0.4
0.4
-0.4
-0.4
0.6
-0.2
1.4
-0.2
-1.6
0.8
-1.6
-1
0.2
1.8
-1
-2.4
-1.2
-0.4
-0.6
-0.6
-1.2
-0.2
0.4
0.2
1.4
0.4
0
-2
0.6
0.4
0.6
-0.8
-0.6
-0.4
-0.2
-0.6
2
0
-0.2
-0.4
1.8
1.4
-1
-1
-0.2
0.4
0.2
-2.2
0.4
0.6
-0.6
0.8
0.2
0.4
1.2
-2.6
0.8
Difference
Y:
0
-0.333333333
2.8
3.4
-1
0
-0.4
-3.2
-0.4
0.4
-1
-0.4
-0.8
-2
0.8
0.4
-3.8
-2.4
1.2
1.2
1.6
0.2
0.2
-1.4
-2.6
0.6
0.4
0.6
-0.6
1.4
2
-2.8
2
0.8
0.8
-1
-0.4
-0.6
1
1
0.2
-0.2
-0.4
0.8
1.4
0.8
1
-0.4
-0.8
0.2
1
0
0.6
1.2
1
-1
-1
0
1
0.8
-1.2
Difference X
(abs):
0
0.333333333
2
2.8
0.4
0.4
0.4
0.4
0.6
0.2
1.4
0.2
1.6
0.8
1.6
1
0.2
1.8
1
2.4
1.2
0.4
0.6
0.6
1.2
0.2
0.4
0.2
1.4
0.4
0
2
0.6
0.4
0.6
0.8
0.6
0.4
0.2
0.6
2
0
0.2
0.4
1.8
1.4
1
1
0.2
0.4
0.2
2.2
0.4
0.6
0.6
0.8
0.2
0.4
1.2
2.6
0.8
Difference Y
(abs):
0
0.333333333
2.8
3.4
1
0
0.4
3.2
0.4
0.4
1
0.4
0.8
2
0.8
0.4
3.8
2.4
1.2
1.2
1.6
0.2
0.2
1.4
2.6
0.6
0.4
0.6
0.6
1.4
2
2.8
2
0.8
0.8
1
0.4
0.6
1
1
0.2
0.2
0.4
0.8
1.4
0.8
1
0.4
0.8
0.2
1
0
0.6
1.2
1
1
1
0
1
0.8
1.2
Statistics:
Mean:
0.921321321
Maximum:
4.6
Sum:
204.5333333
RMS:
1.206887143
Mean X:
0.855255255
Mean Y:
0.987387387
Maximum X:
3.6
Maximum Y:
4.6
Sum X:
94.93333333
Sum Y:
109.6
RMS X:
1.111087087
RMS Y:
1.295622877
181
187
189
191
192
195
196
198
201
201
203
204
205
203
206
207
206
208
206
208
207
203
204
201
197
194
192
187
184
180
173
172
167
164
164
154
153
150
149
150
150
150
150
150
150
149
149
150
149
148
125
122
120
118
116
110
108
104
101
98
94
92
89
86
80
76
72
62
59
53
47
41
38
33
30
28
26
27
26
27
29
28
31
32
32
43
45
50
50
51
53
53
53
51
53
51
53
51
51
46
182.6
185.8
188
190.8
192.6
194.4
196.4
198.2
199.8
201.4
202.8
203.2
204.2
205
205.4
206
206.6
207
207
206.4
205.6
204.6
202.4
199.8
197.6
194.2
190.8
187.4
183.2
179.2
175.2
171.2
168
164.2
160.4
157
154
151.2
150.4
149.8
149.8
150
150
149.8
149.6
149.6
149.4
149
149
148
125.2
122.4
120.2
117.2
114.4
111.2
107.8
104.2
101
97.8
94.8
91.8
88.2
84.6
80.6
75.2
69.8
64.4
58.6
52.4
47.6
42.4
37.8
34
31
28.8
27.4
26.8
27
27.4
28.2
29.4
30.4
33.2
36.6
40.4
44
47.8
49.8
51.4
52
52.2
52.6
52.2
52.2
51.8
51.8
50.4
49.33333333
46
-1.6
1.2
1
0.2
-0.6
0.6
-0.4
-0.2
1.2
-0.4
0.2
0.8
0.8
-2
0.6
1
-0.6
1
-1
1.6
1.4
-1.6
1.6
1.2
-0.6
-0.2
1.2
-0.4
0.8
0.8
-2.2
0.8
-1
-0.2
3.6
-3
-1
-1.2
-1.4
0.2
0.2
0
0
0.2
0.4
-0.6
-0.4
1
0
0
-0.2
-0.4
-0.2
0.8
1.6
-1.2
0.2
-0.2
0
0.2
-0.8
0.2
0.8
1.4
-0.6
0.8
2.2
-2.4
0.4
0.6
-0.6
-1.4
0.2
-1
-1
-0.8
-1.4
0.2
-1
-0.4
0.8
-1.4
0.6
-1.2
-4.6
2.6
1
2.2
0.2
-0.4
1
0.8
0.4
-1.2
0.8
-0.8
1.2
0.6
1.666666667
0
1.6
1.2
1
0.2
0.6
0.6
0.4
0.2
1.2
0.4
0.2
0.8
0.8
2
0.6
1
0.6
1
1
1.6
1.4
1.6
1.6
1.2
0.6
0.2
1.2
0.4
0.8
0.8
2.2
0.8
1
0.2
3.6
3
1
1.2
1.4
0.2
0.2
0
0
0.2
0.4
0.6
0.4
1
0
0
0.2
0.4
0.2
0.8
1.6
1.2
0.2
0.2
0
0.2
0.8
0.2
0.8
1.4
0.6
0.8
2.2
2.4
0.4
0.6
0.6
1.4
0.2
1
1
0.8
1.4
0.2
1
0.4
0.8
1.4
0.6
1.2
4.6
2.6
1
2.2
0.2
0.4
1
0.8
0.4
1.2
0.8
0.8
1.2
0.6
1.666666667
0

160
140
Y-coordinate
120
100
Moving Average
80
Kalman Filter
60
40
20
50
100
150
200
250
X-coordinate

160
140
Y-coordinate
120
100
Moving Average
80
Raw Data
60
40
20
50
100
150
X-coordinate
200
250
Trial 3:
Kalman Filter Data:
Kalman:
X
143
145
144
146
146
148
151
153
153
157
162
167
170
173
177
179
182
185
188
190
192
192
194
195
197
198
199
200
200
203
205
208
209
209
207
206
204
201
200
196
195
191
190
187
185
182
181
177
174
171
167
163
159
154
147
144
144
143
Moving
Average X:
Moving
Average Y:
Difference
X:
Difference
Y:
Difference X
(abs):
Difference Y
(abs):
Y
56
57
57
57
57
52
48
45
43
39
34
29
27
26
26
26
26
27
27
27
28
30
33
33
34
40
45
48
52
56
60
65
70
75
78
80
82
85
88
92
96
102
108
114
118
123
126
130
135
138
142
146
150
154
157
158
159
159
143
144
144.8
145.8
147
148.8
150.2
152.4
155.2
158.4
161.8
165.8
169.8
173.2
176.2
179.2
182.2
184.8
187.4
189.4
191.2
192.6
194
195.2
196.6
197.8
198.8
200
201.4
203.2
205
206.8
207.6
207.8
207
205.4
203.6
201.4
199.2
196.6
194.4
191.8
189.6
187
185
182.4
179.8
177
174
170.4
166.8
162.8
158
153.4
149.6
146.4
144.2
142.8
56
56.66666667
56.8
56
54.2
51.8
49
45.4
41.8
38
34.4
31
28.4
26.8
26.2
26.2
26.4
26.6
27
27.8
29
30.2
31.6
34
37
40
43.8
48.2
52.2
56.2
60.6
65.2
69.6
73.6
77
80
82.6
85.4
88.6
92.6
97.2
102.4
107.6
113
117.8
122.2
126.4
130.4
134.2
138.2
142.2
146
149.8
153
155.6
157.4
157.2
155.2
0
1
-0.8
0.2
-1
-0.8
0.8
0.6
-2.2
-1.4
0.2
1.2
0.2
-0.2
0.8
-0.2
-0.2
0.2
0.6
0.6
0.8
-0.6
0
-0.2
0.4
0.2
0.2
0
-1.4
-0.2
0
1.2
1.4
1.2
0
0.6
0.4
-0.4
0.8
-0.6
0.6
-0.8
0.4
0
0
-0.4
1.2
0
0
0.6
0.2
0.2
1
0.6
-2.6
-2.4
-0.2
0.2
0
0.333333333
0.2
1
2.8
0.2
-1
-0.4
1.2
1
-0.4
-2
-1.4
-0.8
-0.2
-0.2
-0.4
0.4
0
-0.8
-1
-0.2
1.4
-1
-3
0
1.2
-0.2
-0.2
-0.2
-0.6
-0.2
0.4
1.4
1
0
-0.6
-0.4
-0.6
-0.6
-1.2
-0.4
0.4
1
0.2
0.8
-0.4
-0.4
0.8
-0.2
-0.2
0
0.2
1
1.4
0.6
1.8
3.8
0
1
0.8
0.2
1
0.8
0.8
0.6
2.2
1.4
0.2
1.2
0.2
0.2
0.8
0.2
0.2
0.2
0.6
0.6
0.8
0.6
0
0.2
0.4
0.2
0.2
0
1.4
0.2
0
1.2
1.4
1.2
0
0.6
0.4
0.4
0.8
0.6
0.6
0.8
0.4
0
0
0.4
1.2
0
0
0.6
0.2
0.2
1
0.6
2.6
2.4
0.2
0.2
0
0.333333333
0.2
1
2.8
0.2
1
0.4
1.2
1
0.4
2
1.4
0.8
0.2
0.2
0.4
0.4
0
0.8
1
0.2
1.4
1
3
0
1.2
0.2
0.2
0.2
0.6
0.2
0.4
1.4
1
0
0.6
0.4
0.6
0.6
1.2
0.4
0.4
1
0.2
0.8
0.4
0.4
0.8
0.2
0.2
0
0.2
1
1.4
0.6
1.8
3.8
Statistics:
Mean:
0.772164948
Maximum:
3.8
Sum:
149.8
RMS:
1.030052435
Mean X:
0.727835052
Mean Y:
0.816494845
Maximum X:
2.8
Maximum Y:
3.8
Sum X:
70.6
Sum Y:
79.2
RMS X:
0.946616329
RMS Y:
1.107218841
143
140
134
126
121
117
112
106
102
97
94
92
87
86
86
85
84
84
85
88
91
96
102
107
111
116
122
128
133
136
139
142
147
149
153
155
156
156
153
153
147
139
136
134
131
128
122
117
111
105
100
93
86
79
71
62
58
53
50
44
38
33
28
26
26
27
28
29
31
34
38
43
46
53
58
60
61
60
140.8
137.2
132.8
127.6
122
116.4
111.6
106.8
102.2
98.2
94.4
91.2
89
87.2
85.6
85
84.8
85.2
86.4
88.8
92.4
96.8
101.4
106.4
111.6
116.8
122
127
131.6
135.6
139.4
142.6
146
149.2
152
153.8
154.6
155
153
151.4
146.8
141.8
137.4
133.6
130.2
126.4
121.8
116.6
111
105.2
99
92.6
85.8
78.2
71.2
64.6
58.8
53.4
48.6
43.6
38.6
33.8
30.2
28
27
27.2
28.2
29.8
32
35
38.4
42.8
47.6
52
55.6
58.4
60.33333333
60
2.2
2.8
1.2
-1.6
-1
0.6
0.4
-0.8
-0.2
-1.2
-0.4
0.8
-2
-1.2
0.4
0
-0.8
-1.2
-1.4
-0.8
-1.4
-0.8
0.6
0.6
-0.6
-0.8
0
1
1.4
0.4
-0.4
-0.6
1
-0.2
1
1.2
1.4
1
0
1.6
0.2
-2.8
-1.4
0.4
0.8
1.6
0.2
0.4
0
-0.2
1
0.4
0.2
0.8
-0.2
-2.6
-0.8
-0.4
1.4
0.4
-0.6
-0.8
-2.2
-2
-1
-0.2
-0.2
-0.8
-1
-1
-0.4
0.2
-1.6
1
2.4
1.6
0.666666667
0
2.2
2.8
1.2
1.6
1
0.6
0.4
0.8
0.2
1.2
0.4
0.8
2
1.2
0.4
0
0.8
1.2
1.4
0.8
1.4
0.8
0.6
0.6
0.6
0.8
0
1
1.4
0.4
0.4
0.6
1
0.2
1
1.2
1.4
1
0
1.6
0.2
2.8
1.4
0.4
0.8
1.6
0.2
0.4
0
0.2
1
0.4
0.2
0.8
0.2
2.6
0.8
0.4
1.4
0.4
0.6
0.8
2.2
2
1
0.2
0.2
0.8
1
1
0.4
0.2
1.6
1
2.4
1.6
0.666666667
0

Raw:
X
144
144
144
146
146
149
153
153
153
159
165
168
171
173
177
179
182
185
189
190
191
192
195
195
197
198
200
200
200
205
205
210
209
208
206
205
203
201
200
195
196
191
192
186
186
182
182
177
174
171
167
163
159
154
146
146
147
146
144
140
132
Moving Average
X:
Moving Average
Y:
Difference
X:
Difference
Y:
Difference X
(abs):
Difference Y
(abs):
Y
57
57
57
57
57
50
47
44
44
38
33
29
29
29
28
28
27
28
28
28
29
32
34
33
35
43
47
49
52
57
60
66
72
76
77
79
82
86
88
94
96
105
110
115
118
123
125
131
135
138
143
146
151
154
157
157
158
158
149
143
137
144
144
144.8
145.8
147.6
149.4
150.8
153.4
156.6
159.6
163.2
167.2
170.8
173.6
176.4
179.2
182.4
185
187.4
189.4
191.4
192.6
194
195.4
197
198
199
200.6
202
204
205.8
207.4
207.6
207.6
206.2
204.6
203
200.8
199
196.6
194.8
192
190.2
187.4
185.6
182.6
180.2
177.2
174.2
170.4
166.8
162.8
157.8
153.6
150.4
147.8
145.8
144.6
141.8
137
132
57
57
57
55.6
53.6
51
48.4
44.6
41.2
37.6
34.6
31.6
29.6
28.6
28.2
28
27.8
27.8
28
29
30.2
31.2
32.6
35.4
38.4
41.4
45.2
49.6
53
56.8
61.4
66.2
70.2
74
77.2
80
82.4
85.8
89.2
93.8
98.6
104
108.8
114.2
118.2
122.4
126.4
130.4
134.4
138.6
142.6
146.4
150.2
153
155.4
156.8
155.8
153
149
144.8
140.4
0
0
-0.8
0.2
-1.6
-0.4
2.2
-0.4
-3.6
-0.6
1.8
0.8
0.2
-0.6
0.6
-0.2
-0.4
0
1.6
0.6
-0.4
-0.6
1
-0.4
0
0
1
-0.6
-2
1
-0.8
2.6
1.4
0.4
-0.2
0.4
0
0.2
1
-1.6
1.2
-1
1.8
-1.4
0.4
-0.6
1.8
-0.2
-0.2
0.6
0.2
0.2
1.2
0.4
-4.4
-1.8
1.2
1.4
2.2
3
0
0
0
0
1.4
3.4
-1
-1.4
-0.6
2.8
0.4
-1.6
-2.6
-0.6
0.4
-0.2
0
-0.8
0.2
0
-1
-1.2
0.8
1.4
-2.4
-3.4
1.6
1.8
-0.6
-1
0.2
-1.4
-0.2
1.8
2
-0.2
-1
-0.4
0.2
-1.2
0.2
-2.6
1
1.2
0.8
-0.2
0.6
-1.4
0.6
0.6
-0.6
0.4
-0.4
0.8
1
1.6
0.2
2.2
5
0
-1.8
-3.4
0
0
0.8
0.2
1.6
0.4
2.2
0.4
3.6
0.6
1.8
0.8
0.2
0.6
0.6
0.2
0.4
0
1.6
0.6
0.4
0.6
1
0.4
0
0
1
0.6
2
1
0.8
2.6
1.4
0.4
0.2
0.4
0
0.2
1
1.6
1.2
1
1.8
1.4
0.4
0.6
1.8
0.2
0.2
0.6
0.2
0.2
1.2
0.4
4.4
1.8
1.2
1.4
2.2
3
0
0
0
0
1.4
3.4
1
1.4
0.6
2.8
0.4
1.6
2.6
0.6
0.4
0.2
0
0.8
0.2
0
1
1.2
0.8
1.4
2.4
3.4
1.6
1.8
0.6
1
0.2
1.4
0.2
1.8
2
0.2
1
0.4
0.2
1.2
0.2
2.6
1
1.2
0.8
0.2
0.6
1.4
0.6
0.6
0.6
0.4
0.4
0.8
1
1.6
0.2
2.2
5
0
1.8
3.4
Statistics:
Mean:
1.057731959
Maximum:
5
Sum:
205.2
RMS:
1.421258981
Mean X:
1.013058419
Mean Y:
1.102405498
Maximum X:
4.4
Maximum Y:
5
Sum X:
98.26666667
Sum Y:
106.9333333
RMS X:
1.368739523
RMS Y:
1.47190567
123
121
118
113
105
103
98
96
94
87
88
89
86
85
85
88
90
94
99
104
108
111
118
123
129
134
135
139
142
148
149
153
155
155
154
151
137
136
132
128
120
117
111
105
100
93
86
79
70
62
60
55
52
44
38
33
30
29
29
30
31
31
32
36
40
45
47
56
59
59
59
58
126.8
121.4
116
112
107.4
103
99.2
95.6
92.6
90.8
88.8
87
86.6
86.6
86.8
88.4
91.2
95
99
103.2
108
112.8
117.8
123
127.8
132
135.8
139.6
142.6
146.2
149.4
152
153.2
153.6
153.3333333
151
137
134
130.6
126.6
121.6
116.2
110.6
105.2
99
92.6
85.6
78
71.4
65.2
59.8
54.6
49.8
44.4
39.4
34.8
31.8
30.2
29.8
30
30.6
32
34
36.8
40
44.8
49.4
53.2
56
58.2
58.66666667
58
-3.8
-0.4
2
1
-2.4
0
-1.2
0.4
1.4
-3.8
-0.8
2
-0.6
-1.6
-1.8
-0.4
-1.2
-1
0
0.8
0
-1.8
0.2
0
1.2
2
-0.8
-0.6
-0.6
1.8
-0.4
1
1.8
1.4
0.666666667
0
0
2
1.4
1.4
-1.6
0.8
0.4
-0.2
1
0.4
0.4
1
-1.4
-3.2
0.2
0.4
2.2
-0.4
-1.4
-1.8
-1.8
-1.2
-0.8
0
0.4
-1
-2
-0.8
0
0.2
-2.4
2.8
3
0.8
0.333333333
0
3.8
0.4
2
1
2.4
0
1.2
0.4
1.4
3.8
0.8
2
0.6
1.6
1.8
0.4
1.2
1
0
0.8
0
1.8
0.2
0
1.2
2
0.8
0.6
0.6
1.8
0.4
1
1.8
1.4
0.666666667
0
0
2
1.4
1.4
1.6
0.8
0.4
0.2
1
0.4
0.4
1
1.4
3.2
0.2
0.4
2.2
0.4
1.4
1.8
1.8
1.2
0.8
0
0.4
1
2
0.8
0
0.2
2.4
2.8
3
0.8
0.333333333
0

160
140
Y-coordinate
120
100
Moving Average
80
Kalman Filter
60
40
20
50
100
150
200
250
X-coordinate

160
140
Y-coordinate
120
100
Moving Average
80
Raw Data
60
40
20
50
100
150
X-coordinate
200
250
Trial 4:
Kalman Filter Data:
Kalman:
X
144
145
144
143
140
135
131
125
119
113
109
104
99
94
90
87
84
84
85
87
89
91
95
100
104
112
120
128
138
145
149
150
150
150
150
150
149
151
153
156
161
166
171
176
181
185
189
193
198
201
204
205
206
208
207
204
201
197
Moving
Average X:
Y
56
56
50
44
38
33
29
26
25
25
25
27
30
33
37
47
57
67
78
89
98
105
113
119
125
131
136
140
148
155
159
160
160
160
159
158
157
155
153
151
148
143
138
134
126
121
115
108
102
96
88
82
77
67
56
47
35
27
144
144.3333333
143.2
141.4
138.6
134.8
130
124.6
119.4
114
108.8
103.8
99.2
94.8
90.8
87.8
86
85.4
85.8
87.2
89.4
92.4
95.8
100.4
106.2
112.8
120.4
128.6
136
142
146.4
148.8
149.8
150
149.8
150
150.6
151.8
154
157.4
161.4
166
171
175.8
180.4
184.8
189.2
193.2
197
200.2
202.8
204.8
206
206
205.2
203.4
200.2
195.8
Moving
Average Y:
56
54
48.8
44.2
38.8
34
30.2
27.6
26
25.6
26.4
28
30.4
34.8
40.8
48.2
57.2
67.6
77.8
87.4
96.6
104.8
112
118.6
124.8
130.2
136
142
147.6
152.4
156.4
158.8
159.6
159.4
158.8
157.8
156.4
154.8
152.8
150
146.6
142.8
137.8
132.4
126.8
120.8
114.4
108.4
101.8
95.2
89
82
74
65.8
56.4
46.4
37.6
30.6
Difference
X:
0
0.666666667
0.8
1.6
1.4
0.2
1
0.4
-0.4
-1
0.2
0.2
-0.2
-0.8
-0.8
-0.8
-2
-1.4
-0.8
-0.2
-0.4
-1.4
-0.8
-0.4
-2.2
-0.8
-0.4
-0.6
2
3
2.6
1.2
0.2
0
0.2
0
-1.6
-0.8
-1
-1.4
-0.4
0
0
0.2
0.6
0.2
-0.2
-0.2
1
0.8
1.2
0.2
0
2
1.8
0.6
0.8
1.2
Difference
Y:
0
2
1.2
-0.2
-0.8
-1
-1.2
-1.6
-1
-0.6
-1.4
-1
-0.4
-1.8
-3.8
-1.2
-0.2
-0.6
0.2
1.6
1.4
0.2
1
0.4
0.2
0.8
0
-2
0.4
2.6
2.6
1.2
0.4
0.6
0.2
0.2
0.6
0.2
0.2
1
1.4
0.2
0.2
1.6
-0.8
0.2
0.6
-0.4
0.2
0.8
-1
0
3
1.2
-0.4
0.6
-2.6
-3.6
Difference X
(abs):
0
0.666666667
0.8
1.6
1.4
0.2
1
0.4
0.4
1
0.2
0.2
0.2
0.8
0.8
0.8
2
1.4
0.8
0.2
0.4
1.4
0.8
0.4
2.2
0.8
0.4
0.6
2
3
2.6
1.2
0.2
0
0.2
0
1.6
0.8
1
1.4
0.4
0
0
0.2
0.6
0.2
0.2
0.2
1
0.8
1.2
0.2
0
2
1.8
0.6
0.8
1.2
Difference Y
(abs):
0
2
1.2
0.2
0.8
1
1.2
1.6
1
0.6
1.4
1
0.4
1.8
3.8
1.2
0.2
0.6
0.2
1.6
1.4
0.2
1
0.4
0.2
0.8
0
2
0.4
2.6
2.6
1.2
0.4
0.6
0.2
0.2
0.6
0.2
0.2
1
1.4
0.2
0.2
1.6
0.8
0.2
0.6
0.4
0.2
0.8
1
0
3
1.2
0.4
0.6
2.6
3.6
Statistics:
Mean:
0.953703704
Maximum:
3.8
Sum:
137.3333333
RMS:
1.256612141
Mean X:
0.811111111
Mean Y:
1.096296296
Maximum X:
3
Maximum Y:
3.8
Sum X:
58.4
Sum Y:
78.93333333
RMS X:
1.063769213
RMS Y:
1.423567072
192
185
178
172
167
162
155
151
147
143
143
144
144
145
23
21
21
22
25
29
35
41
51
58
63
63
63
62
190.6
184.8
178.8
172.8
166.8
161.4
156.4
151.6
147.8
145.6
144.2
143.8
144.3333333
145
25.4
22.8
22.4
23.6
26.4
30.4
36.2
42.8
49.6
55.2
59.6
61.8
62.66666667
62
1.4
0.2
-0.8
-0.8
0.2
0.6
-1.4
-0.6
-0.8
-2.6
-1.2
0.2
-0.333333333
0
-2.4
-1.8
-1.4
-1.6
-1.4
-1.4
-1.2
-1.8
1.4
2.8
3.4
1.2
0.333333333
0
1.4
0.2
0.8
0.8
0.2
0.6
1.4
0.6
0.8
2.6
1.2
0.2
0.333333333
0
2.4
1.8
1.4
1.6
1.4
1.4
1.2
1.8
1.4
2.8
3.4
1.2
0.333333333
0

Raw:
X
145
144
144
143
138
134
131
123
118
113
110
104
100
95
91
88
86
87
88
89
91
93
97
102
105
116
122
131
141
144
147
146
147
148
149
149
149
153
154
158
163
168
173
177
181
185
189
194
199
200
204
204
205
208
206
202
199
195
191
183
176
Moving Average
X:
Moving Average
Y:
145
144.3333333
142.8
140.6
138
133.8
128.8
123.8
119
113.6
109
104.4
100
95.6
92
89.4
88
87.6
88.2
89.6
91.6
94.4
97.6
102.6
108.4
115.2
123
130.8
137
141.8
145
146.4
147.4
147.8
148.4
149.6
150.8
152.6
155.4
159.2
163.2
167.8
172.4
176.8
181
185.2
189.6
193.4
197.2
200.2
202.4
204.2
205.4
205
204
202
198.6
194
188.8
183.4
178
57
54
48.8
44.2
39
34.8
31.6
29.4
28.2
28.2
29.2
30.4
32.8
37.8
44
51.2
60.6
71
80
88.4
97.4
104.8
111.4
117.8
124.4
129.4
135.8
142.2
147.8
152
155.8
157.4
157.8
157.6
157.4
156.6
155.6
154.2
152.4
149.4
146
142.2
136.8
131.4
126.4
120.4
114
108.4
101.8
95.2
89.4
81.8
73.4
65.2
55.4
45.6
38.2
32.4
28
26.4
26.4
Difference
X:
Difference
Y:
Difference X
(abs):
Difference Y
(abs):
Y
57
56
49
44
38
34
30
28
28
27
28
30
33
34
39
53
61
69
81
91
98
103
114
118
124
130
136
139
150
156
158
157
158
158
158
157
156
154
153
151
148
141
137
134
124
121
116
107
102
96
88
83
78
64
54
47
34
29
27
25
25
0
-0.333333333
1.2
2.4
0
0.2
2.2
-0.8
-1
-0.6
1
-0.4
0
-0.6
-1
-1.4
-2
-0.6
-0.2
-0.6
-0.6
-1.4
-0.6
-0.6
-3.4
0.8
-1
0.2
4
2.2
2
-0.4
-0.4
0.2
0.6
-0.6
-1.8
0.4
-1.4
-1.2
-0.2
0.2
0.6
0.2
0
-0.2
-0.6
0.6
1.8
-0.2
1.6
-0.2
-0.4
3
2
0
0.4
1
2.2
-0.4
-2
0
2
0.2
-0.2
-1
-0.8
-1.6
-1.4
-0.2
-1.2
-1.2
-0.4
0.2
-3.8
-5
1.8
0.4
-2
1
2.6
0.6
-1.8
2.6
0.2
-0.4
0.6
0.2
-3.2
2.2
4
2.2
-0.4
0.2
0.4
0.6
0.4
0.4
-0.2
0.6
1.6
2
-1.2
0.2
2.6
-2.4
0.6
2
-1.4
0.2
0.8
-1.4
1.2
4.6
-1.2
-1.4
1.4
-4.2
-3.4
-1
-1.4
-1.4
0
0.333333333
1.2
2.4
0
0.2
2.2
0.8
1
0.6
1
0.4
0
0.6
1
1.4
2
0.6
0.2
0.6
0.6
1.4
0.6
0.6
3.4
0.8
1
0.2
4
2.2
2
0.4
0.4
0.2
0.6
0.6
1.8
0.4
1.4
1.2
0.2
0.2
0.6
0.2
0
0.2
0.6
0.6
1.8
0.2
1.6
0.2
0.4
3
2
0
0.4
1
2.2
0.4
2
0
2
0.2
0.2
1
0.8
1.6
1.4
0.2
1.2
1.2
0.4
0.2
3.8
5
1.8
0.4
2
1
2.6
0.6
1.8
2.6
0.2
0.4
0.6
0.2
3.2
2.2
4
2.2
0.4
0.2
0.4
0.6
0.4
0.4
0.2
0.6
1.6
2
1.2
0.2
2.6
2.4
0.6
2
1.4
0.2
0.8
1.4
1.2
4.6
1.2
1.4
1.4
4.2
3.4
1
1.4
1.4
Statistics:
Mean:
1.194907407
Maximum:
5
Sum:
172.0666667
RMS:
1.604247833
Mean X:
0.95
Mean Y:
1.439814815
Maximum X:
4
Maximum Y:
5
Sum X:
68.4
Sum Y:
103.6666667
RMS X:
1.295909995
RMS Y:
1.862213604
172
168
162
155
153
148
145
146
147
146
147
26
29
33
39
44
55
60
62
60
61
60
172.2
166.6
162
157.2
152.6
149.4
147.8
146.4
146.2
146.6666667
147
27.6
30.4
34.2
40
46.2
52
56.2
59.6
60.6
60.33333333
60
-0.2
1.4
0
-2.2
0.4
-1.4
-2.8
-0.4
0.8
-0.666666667
0
-1.6
-1.4
-1.2
-1
-2.2
3
3.8
2.4
-0.6
0.666666667
0
0.2
1.4
0
2.2
0.4
1.4
2.8
0.4
0.8
0.666666667
0
1.6
1.4
1.2
1
2.2
3
3.8
2.4
0.6
0.666666667
0

160
140
Y-coordinate
120
100
Moving Average
80
Kalman Filter
60
40
20
50
100
150
200
250
X-coordinate

160
140
Y-coordinate
120
100
Moving Average
80
Raw Data
60
40
20
50
100
150
X-coordinate
200
250
Trial 5:
Kalman Filter Data:
Kalman:
X
119
128
137
144
148
151
152
152
152
152
154
157
158
159
159
159
158
159
160
164
171
176
180
186
192
197
201
202
204
204
204
203
200
196
192
188
183
179
174
168
163
159
154
150
148
147
148
149
149
148
147
145
141
137
131
123
116
112
Moving
Average X:
Y
131
137
143
147
150
151
152
152
152
152
155
156
157
157
157
157
156
155
153
150
144
139
132
123
114
105
95
88
81
78
66
55
43
34
28
26
25
24
26
29
32
37
44
48
55
58
60
59
58
56
54
48
44
38
32
28
26
27
119
128
135.2
141.6
146.4
149.4
151
151.8
152.4
153.4
154.6
156
157.4
158.4
158.6
158.8
159
160
162.4
166
170.2
175.4
181
186.2
191.2
195.6
199.2
201.6
203
203.4
203
201.4
199
195.8
191.8
187.6
183.2
178.4
173.4
168.6
163.6
158.8
154.8
151.6
149.4
148.4
148.2
148.2
148.2
147.6
146
143.6
140.2
135.4
129.6
123.8
117.6
111.6
Moving
Average Y:
131
137
141.6
145.6
148.6
150.4
151.4
151.8
152.6
153.4
154.4
155.4
156.4
156.8
156.8
156.4
155.6
154.2
151.6
148.2
143.6
137.6
130.4
122.6
113.8
105
96.6
89.4
81.6
73.6
64.6
55.2
45.2
37.2
31.2
27.4
25.8
26
27.2
29.6
33.6
38
43.2
48.4
53
56
58
58.2
57.4
55
52
48
43.2
38
33.6
30.2
28.4
28.4
Difference
X:
0
0
1.8
2.4
1.6
1.6
1
0.2
-0.4
-1.4
-0.6
1
0.6
0.6
0.4
0.2
-1
-1
-2.4
-2
0.8
0.6
-1
-0.2
0.8
1.4
1.8
0.4
1
0.6
1
1.6
1
0.2
0.2
0.4
-0.2
0.6
0.6
-0.6
-0.6
0.2
-0.8
-1.6
-1.4
-1.4
-0.2
0.8
0.8
0.4
1
1.4
0.8
1.6
1.4
-0.8
-1.6
0.4
Difference
Y:
0
0
1.4
1.4
1.4
0.6
0.6
0.2
-0.6
-1.4
0.6
0.6
0.6
0.2
0.2
0.6
0.4
0.8
1.4
1.8
0.4
1.4
1.6
0.4
0.2
0
-1.6
-1.4
-0.6
4.4
1.4
-0.2
-2.2
-3.2
-3.2
-1.4
-0.8
-2
-1.2
-0.6
-1.6
-1
0.8
-0.4
2
2
2
0.8
0.6
1
2
0
0.8
0
-1.6
-2.2
-2.4
-1.4
Difference X
(abs):
0
0
1.8
2.4
1.6
1.6
1
0.2
0.4
1.4
0.6
1
0.6
0.6
0.4
0.2
1
1
2.4
2
0.8
0.6
1
0.2
0.8
1.4
1.8
0.4
1
0.6
1
1.6
1
0.2
0.2
0.4
0.2
0.6
0.6
0.6
0.6
0.2
0.8
1.6
1.4
1.4
0.2
0.8
0.8
0.4
1
1.4
0.8
1.6
1.4
0.8
1.6
0.4
Difference Y
(abs):
0
0
1.4
1.4
1.4
0.6
0.6
0.2
0.6
1.4
0.6
0.6
0.6
0.2
0.2
0.6
0.4
0.8
1.4
1.8
0.4
1.4
1.6
0.4
0.2
0
1.6
1.4
0.6
4.4
1.4
0.2
2.2
3.2
3.2
1.4
0.8
2
1.2
0.6
1.6
1
0.8
0.4
2
2
2
0.8
0.6
1
2
0
0.8
0
1.6
2.2
2.4
1.4
Statistics:
Mean:
1.027916667
Maximum:
4.4
Sum:
164.4666667
RMS:
1.282976141
Mean X:
0.9375
Mean Y:
1.118333333
Maximum X:
2.8
Maximum Y:
4.4
Sum X:
75
Sum Y:
89.46666667
RMS X:
1.141709245
RMS Y:
1.410161535
106
101
97
93
89
86
84
86
87
90
93
98
102
106
109
117
125
135
144
150
154
155
29
32
37
43
50
58
62
74
84
91
101
108
113
119
121
128
134
141
147
151
154
155
106.4
101.8
97.2
93.2
89.8
87.6
86.4
86.6
88
90.8
94
97.8
101.6
106.4
111.8
118.4
126
134.2
141.6
147.6
153
155
30.2
33.6
38.2
44
50
57.4
65.6
73.8
82.4
91.6
99.4
106.4
112.4
117.8
123
128.6
134.2
140.2
145.4
149.6
153.3333333
155
-0.4
-0.8
-0.2
-0.2
-0.8
-1.6
-2.4
-0.6
-1
-0.8
-1
0.2
0.4
-0.4
-2.8
-1.4
-1
0.8
2.4
2.4
1
0
-1.2
-1.6
-1.2
-1
0
0.6
-3.6
0.2
1.6
-0.6
1.6
1.6
0.6
1.2
-2
-0.6
-0.2
0.8
1.6
1.4
0.666666667
0
0.4
0.8
0.2
0.2
0.8
1.6
2.4
0.6
1
0.8
1
0.2
0.4
0.4
2.8
1.4
1
0.8
2.4
2.4
1
0
1.2
1.6
1.2
1
0
0.6
3.6
0.2
1.6
0.6
1.6
1.6
0.6
1.2
2
0.6
0.2
0.8
1.6
1.4
0.666666667
0
Moving
Average X:
Moving
Average Y:
Raw:
X
120
Y
132
120
132
128
138
143
147
149
150
150
150
152
155
158
159
159
158
159
158
159
161
167
175
177
180
189
193
197
200
200
203
203
203
201
198
195
190
187
182
179
174
167
163
160
154
152
150
150
151
152
150
148
148
145
139
137
128
121
116
113
106
102
98
95
137
143
147
149
149
151
150
151
153
156
156
157
157
156
157
156
155
152
149
141
138
131
120
112
105
94
89
82
82
62
53
41
35
32
30
29
28
29
33
35
40
47
49
57
58
58
57
56
55
52
46
43
37
31
29
29
30
33
35
41
46
128.6666667
135.2
141
145.4
147.8
149.2
150.2
151.4
153
154.8
156.6
157.8
158.6
158.6
158.6
159
160.8
164
167.8
172
177.6
182.8
187.2
191.8
195.8
198.6
200.6
201.8
202
201.6
200
197.4
194.2
190.4
186.6
182.4
177.8
173
168.6
163.6
159.2
155.8
153.2
151.4
151
150.6
150.2
149.8
148.6
146
143.4
139.4
134
128.2
123
116.8
111.6
107
102.8
98
94.2
137.3333333
141.6
145
147.8
149.2
150
150.8
152.2
153.2
154.6
155.8
156.4
156.6
156.6
156.2
155.2
153.8
150.6
147
142.2
135.8
128.4
121.2
112.4
104
96.4
90.4
81.8
73.6
64
54.6
44.6
38.2
33.4
30.8
29.6
29.8
30.8
33
36.8
40.8
45.6
50.2
53.8
55.8
57.2
56.8
55.6
53.2
50.4
46.6
41.8
37.2
33.8
31.2
30.4
31.2
33.6
37
41.6
47.2
Difference
X:
Difference
Y:
0
0.666666667
2.8
2
1.6
1.2
0.8
-0.2
-1.4
-1
0.2
1.4
1.2
0.4
-0.6
0.4
-1
-1.8
-3
-0.8
3
-0.6
-2.8
1.8
1.2
1.2
1.4
-0.6
1.2
1
1.4
1
0.6
0.8
-0.4
0.4
-0.4
1.2
1
-1.6
-0.6
0.8
-1.8
-1.2
-1.4
-1
0.4
1.8
0.2
-0.6
2
1.6
-0.4
3
-0.2
-2
-0.8
1.4
-1
-0.8
0
0.8
0
0.333333333
1.4
2
1.2
-0.2
1
-0.8
-1.2
-0.2
1.4
0.2
0.6
0.4
-0.6
0.8
0.8
1.2
1.4
2
-1.2
2.2
2.6
-1.2
-0.4
1
-2.4
-1.4
0.2
8.4
-2
-1.6
-3.6
-3.2
-1.4
-0.8
-0.6
-1.8
-1.8
0
-1.8
-0.8
1.4
-1.2
3.2
2.2
0.8
0.2
0.4
1.8
1.6
-0.6
1.2
-0.2
-2.8
-2.2
-1.4
-1.2
-0.6
-2
-0.6
-1.2
Difference X
(abs):
Difference Y
(abs):
0
0.666666667
2.8
2
1.6
1.2
0.8
0.2
1.4
1
0.2
1.4
1.2
0.4
0.6
0.4
1
1.8
3
0.8
3
0.6
2.8
1.8
1.2
1.2
1.4
0.6
1.2
1
1.4
1
0.6
0.8
0.4
0.4
0.4
1.2
1
1.6
0.6
0.8
1.8
1.2
1.4
1
0.4
1.8
0.2
0.6
2
1.6
0.4
3
0.2
2
0.8
1.4
1
0.8
0
0.8
0.333333333
1.4
2
1.2
0.2
1
0.8
1.2
0.2
1.4
0.2
0.6
0.4
0.6
0.8
0.8
1.2
1.4
2
1.2
2.2
2.6
1.2
0.4
1
2.4
1.4
0.2
8.4
2
1.6
3.6
3.2
1.4
0.8
0.6
1.8
1.8
0
1.8
0.8
1.4
1.2
3.2
2.2
0.8
0.2
0.4
1.8
1.6
0.6
1.2
0.2
2.8
2.2
1.4
1.2
0.6
2
0.6
1.2
Statistics:
Mean:
1.31125
Maximum:
8.4
Sum:
209.8
RMS:
1.762156192
Mean X:
1.151666667
Mean Y:
1.470833333
Maximum X:
5.6
Maximum Y:
8.4
Sum X:
92.13333333
Sum Y:
117.6666667
RMS X:
1.483277152
RMS Y:
2.002567796
89
87
87
89
90
92
96
100
103
108
108
121
128
139
145
150
152
152
53
61
61
79
86
91
102
107
112
118
118
131
135
142
147
150
152
153
91.2
89.4
88.4
89
90.8
93.4
96.2
99.8
103
108
113.6
120.8
128.2
136.6
142.8
147.6
151.3333333
152
52.4
60
68
75.6
83.8
93
99.6
106
111.4
117.2
122.8
128.8
134.6
141
145.2
148.8
151.6666667
153
-2.2
-2.4
-1.4
0
-0.8
-1.4
-0.2
0.2
0
0
-5.6
0.2
-0.2
2.4
2.2
2.4
0.666666667
0
0.6
1
-7
3.4
2.2
-2
2.4
1
0.6
0.8
-4.8
2.2
0.4
1
1.8
1.2
0.333333333
0
2.2
2.4
1.4
0
0.8
1.4
0.2
0.2
0
0
5.6
0.2
0.2
2.4
2.2
2.4
0.666666667
0
0.6
1
7
3.4
2.2
2
2.4
1
0.6
0.8
4.8
2.2
0.4
1
1.8
1.2
0.333333333
0

160
140
Y-coordinate
120
100
Moving Average
80
Kalman Filter
60
40
20
50
100
150
200
250
X-coordinate

160
140
Y-coordinate
120
100
Moving Average
80
Raw Data
60
40
20
50
100
150
X-coordinate
200
250
Lightning 1:
Trial 1:
Kalman Filter Data:
Kalman:
X
87
92
96
102
106
111
115
119
120
120
120
117
114
112
109
110
112
117
122
128
134
137
140
143
145
145
142
139
136
137
139
142
146
152
158
163
167
172
178
183
188
195
200
204
205
205
202
199
193
188
181
176
170
165
163
163
Moving
Average X:
Y
56
58
59
62
64
68
70
72
74
74
74
75
77
79
82
84
85
88
90
93
97
100
102
104
106
108
107
110
111
113
115
118
121
124
129
131
134
137
139
141
144
146
148
150
150
149
147
143
137
129
121
114
104
98
95
95
87
91.66666667
96.6
101.4
106
110.6
114.2
117
118.8
119.2
118.2
116.6
114.4
112.4
111.4
112
114
117.8
122.6
127.6
132.2
136.4
139.8
142
143
142.8
141.4
139.8
138.6
138.6
140
143.2
147.4
152.2
157.2
162.4
167.6
172.6
177.6
183.2
188.8
194
198.4
201.8
203.2
203
200.8
197.4
192.6
187.4
181.6
176
171
167.4
165
164.6
Moving
Average Y:
56
57.66666667
59.8
62.2
64.6
67.2
69.6
71.6
72.8
73.8
74.8
75.8
77.4
79.4
81.4
83.6
85.8
88
90.6
93.6
96.4
99.2
101.8
104
105.4
107
108.4
109.8
111.2
113.4
115.6
118.2
121.4
124.6
127.8
131
134
136.4
139
141.4
143.6
145.8
147.6
148.6
148.8
147.8
145.2
141
135.4
128.8
121
113.2
106.4
101.2
97.4
95.4
Difference X:
0
0.333333333
-0.6
0.6
0
0.4
0.8
2
1.2
0.8
1.8
0.4
-0.4
-0.4
-2.4
-2
-2
-0.8
-0.6
0.4
1.8
0.6
0.2
1
2
2.2
0.6
-0.8
-2.6
-1.6
-1
-1.2
-1.4
-0.2
0.8
0.6
-0.6
-0.6
0.4
-0.2
-0.8
1
1.6
2.2
1.8
2
1.2
1.6
0.4
0.6
-0.6
0
-1
-2.4
-2
-1.6
Difference Y:
0
0.333333333
-0.8
-0.2
-0.6
0.8
0.4
0.4
1.2
0.2
-0.8
-0.8
-0.4
-0.4
0.6
0.4
-0.8
0
-0.6
-0.6
0.6
0.8
0.2
0
0.6
1
-1.4
0.2
-0.2
-0.4
-0.6
-0.2
-0.4
-0.6
1.2
0
0
0.6
0
-0.4
0.4
0.2
0.4
1.4
1.2
1.2
1.8
2
1.6
0.2
0
0.8
-2.4
-3.2
-2.4
-0.4
Difference X
(abs):
0
0.333333333
0.6
0.6
0
0.4
0.8
2
1.2
0.8
1.8
0.4
0.4
0.4
2.4
2
2
0.8
0.6
0.4
1.8
0.6
0.2
1
2
2.2
0.6
0.8
2.6
1.6
1
1.2
1.4
0.2
0.8
0.6
0.6
0.6
0.4
0.2
0.8
1
1.6
2.2
1.8
2
1.2
1.6
0.4
0.6
0.6
0
1
2.4
2
1.6
Difference Y
(abs):
0
0.333333333
0.8
0.2
0.6
0.8
0.4
0.4
1.2
0.2
0.8
0.8
0.4
0.4
0.6
0.4
0.8
0
0.6
0.6
0.6
0.8
0.2
0
0.6
1
1.4
0.2
0.2
0.4
0.6
0.2
0.4
0.6
1.2
0
0
0.6
0
0.4
0.4
0.2
0.4
1.4
1.2
1.2
1.8
2
1.6
0.2
0
0.8
2.4
3.2
2.4
0.4
Statistics:
Mean:
1.051626016
Maximum:
4.2
Sum:
172.4666667
RMS:
1.373135592
Mean X:
1.201626016
Mean Y:
0.901626016
Maximum X:
3.2
Maximum Y:
4.2
Sum X:
98.53333333
Sum Y:
73.93333333
RMS X:
1.459999629
RMS Y:
1.280392047
164
168
171
173
173
171
165
158
150
144
140
140
142
145
148
149
146
141
135
128
122
120
116
112
104
96
95
94
92
92
91
89
83
76
69
63
60
59
57
55
54
53
48
43
34
26
17
13
13
17
22
27
165.8
167.8
169.8
171.2
170.6
168
163.4
157.6
151.4
146.4
143.2
142.2
143
144.8
146
145.8
143.8
139.8
134.4
129.2
124.2
119.6
114.8
109.6
104
96
94.2
93.6
92.8
91.6
89.4
86.2
81.6
76
70.2
65.4
61.6
58.8
57
55.6
53.4
50.6
46.4
40.8
33.6
26.6
20.6
17.2
16.4
18.4
22
27
-1.8
0.2
1.2
1.8
2.4
3
1.6
0.4
-1.4
-2.4
-3.2
-2.2
-1
0.2
2
3.2
2.2
1.2
0.6
-1.2
-2.2
0.4
1.2
2.4
0
0
0.8
0.4
-0.8
0.4
1.6
2.8
1.4
0
-1.2
-2.4
-1.6
0.2
0
-0.6
0.6
2.4
1.6
2.2
0.4
-0.6
-3.6
-4.2
-3.4
-1.4
0
0
1.8
0.2
1.2
1.8
2.4
3
1.6
0.4
1.4
2.4
3.2
2.2
1
0.2
2
3.2
2.2
1.2
0.6
1.2
2.2
0.4
1.2
2.4
0
0
0.8
0.4
0.8
0.4
1.6
2.8
1.4
0
1.2
2.4
1.6
0.2
0
0.6
0.6
2.4
1.6
2.2
0.4
0.6
3.6
4.2
3.4
1.4
0
0
Raw:
X
88
92
96
103
106
111
115
119
119
118
118
115
113
112
109
113
115
120
126
131
135
137
140
143
144
143
140
137
135
139
142
145
149
154
160
164
167
173
180
183
189
196
201
203
203
203
199
196
191
186
180
175
170
166
165
166
167
172
174
173
Moving
Average
X:
Y
57
58
59
63
65
69
71
72
74
73
74
76
78
80
83
84
85
89
91
94
98
100
102
104
107
107
105
112
111
114
116
119
123
125
131
131
134
137
139
142
144
147
148
150
149
148
145
141
135
126
119
114
102
99
99
99
98
95
93
93
88
92
97
101.6
106.2
110.8
114
116.4
117.8
117.8
116.6
115.2
113.4
112.4
112.4
113.8
116.6
121
125.4
129.8
133.8
137.2
139.8
141.4
142
141.4
139.8
138.8
138.6
139.6
142
145.8
150
154.4
158.8
163.6
168.8
173.4
178.4
184.2
189.8
194.4
198.4
201.2
201.8
200.8
198.4
195
190.4
185.6
180.4
175.4
171.2
168.4
166.8
167.2
168.8
170.4
171.6
172
Moving
Average Y:
57
58
60.4
62.8
65.4
68
70.2
71.8
72.8
73.8
75
76.2
78.2
80.2
82
84.2
86.4
88.6
91.4
94.4
97
99.6
102.2
104
105
107
108.4
109.8
111.6
114.4
116.6
119.4
122.8
125.8
128.8
131.6
134.4
136.6
139.2
141.8
144
146.2
147.6
148.4
148
146.6
143.6
139
133.2
127
119.2
112
106.6
102.6
99.4
98
96.8
95.6
94.2
92.4
Difference
X:
0
0
-1
1.4
-0.2
0.2
1
2.6
1.2
0.2
1.4
-0.2
-0.4
-0.4
-3.4
-0.8
-1.6
-1
0.6
1.2
1.2
-0.2
0.2
1.6
2
1.6
0.2
-1.8
-3.6
-0.6
0
-0.8
-1
-0.4
1.2
0.4
-1.8
-0.4
1.6
-1.2
-0.8
1.6
2.6
1.8
1.2
2.2
0.6
1
0.6
0.4
-0.4
-0.4
-1.2
-2.4
-1.8
-1.2
-1.8
1.6
2.4
1
Difference Y:
0
0
-1.4
0.2
-0.4
1
0.8
0.2
1.2
-0.8
-1
-0.2
-0.2
-0.2
1
-0.2
-1.4
0.4
-0.4
-0.4
1
0.4
-0.2
0
2
0
-3.4
2.2
-0.6
-0.4
-0.6
-0.4
0.2
-0.8
2.2
-0.6
-0.4
0.4
-0.2
0.2
0
0.8
0.4
1.6
1
1.4
1.4
2
1.8
-1
-0.2
2
-4.6
-3.6
-0.4
1
1.2
-0.6
-1.2
0.6
Difference X
(abs):
0
0
1
1.4
0.2
0.2
1
2.6
1.2
0.2
1.4
0.2
0.4
0.4
3.4
0.8
1.6
1
0.6
1.2
1.2
0.2
0.2
1.6
2
1.6
0.2
1.8
3.6
0.6
0
0.8
1
0.4
1.2
0.4
1.8
0.4
1.6
1.2
0.8
1.6
2.6
1.8
1.2
2.2
0.6
1
0.6
0.4
0.4
0.4
1.2
2.4
1.8
1.2
1.8
1.6
2.4
1
Difference Y
(abs):
0
0
1.4
0.2
0.4
1
0.8
0.2
1.2
0.8
1
0.2
0.2
0.2
1
0.2
1.4
0.4
0.4
0.4
1
0.4
0.2
0
2
0
3.4
2.2
0.6
0.4
0.6
0.4
0.2
0.8
2.2
0.6
0.4
0.4
0.2
0.2
0
0.8
0.4
1.6
1
1.4
1.4
2
1.8
1
0.2
2
4.6
3.6
0.4
1
1.2
0.6
1.2
0.6
Statistics:
Mean:
1.193495935
Maximum:
5
Sum:
195.7333333
RMS:
1.563593249
Mean X:
1.263414634
Mean Y:
1.123577236
Maximum X:
3.6
Maximum Y:
5
Sum X:
103.6
Sum Y:
92.13333333
RMS X:
1.558923957
RMS Y:
1.568248639
172
169
161
155
148
143
142
144
146
149
151
149
144
137
133
126
122
122
117
112
102
95
92
89
80
74
68
62
62
62
58
56
55
54
47
41
31
24
16
16
18
24
27
31
169.8
166
161
155.2
149.8
146.4
144.6
144.8
146.4
147.8
147.8
146
142.8
137.8
132.4
128
124
119.8
115
109.6
103
95
89.4
85.6
80.6
74.6
69.2
65.6
62.4
60
58.6
57
54
50.6
45.6
39.4
31.8
25.6
21
19.6
20.2
23.2
27.33333333
31
2.2
3
0
-0.2
-1.8
-3.4
-2.6
-0.8
-0.4
1.2
3.2
3
1.2
-0.8
0.6
-2
-2
2.2
2
2.4
-1
0
2.6
3.4
-0.6
-0.6
-1.2
-3.6
-0.4
2
-0.6
-1
1
3.4
1.4
1.6
-0.8
-1.6
-5
-3.6
-2.2
0.8
-0.333333333
0
2.2
3
0
0.2
1.8
3.4
2.6
0.8
0.4
1.2
3.2
3
1.2
0.8
0.6
2
2
2.2
2
2.4
1
0
2.6
3.4
0.6
0.6
1.2
3.6
0.4
2
0.6
1
1
3.4
1.4
1.6
0.8
1.6
5
3.6
2.2
0.8
0.333333333
0
Lightning 1 Trial 1 Kalman Filter

150
130
Y-coordinate
110
90
Moving Average
70
Kalman Filter
50
30
10
50
100
150
200
250
X-coordinate
Lightning 1 Trial 1 Raw Measurement

150
130
Y-coordinate
110
90
Moving Average
70
Raw Data
50
30
10
50
100
150
X-coordinate
200
250
Trial 2:
Kalman Filter Data:
Kalman:
X
121
122
121
122
125
129
135
139
145
150
152
153
153
151
147
144
143
144
146
151
157
162
167
171
176
176
174
170
165
163
162
165
171
175
179
184
188
192
193
197
200
202
202
199
196
188
182
176
169
163
155
150
144
140
134
131
132
134
Moving
Average X:
Moving
Average Y:
Difference
X:
Difference
Y:
Difference X
(abs):
Y
14
14
15
16
18
23
27
32
39
45
51
55
57
57
59
59
61
62
67
70
75
79
84
89
93
94
95
96
97
98
100
104
113
119
123
130
135
140
143
149
153
154
154
152
149
144
139
135
131
126
121
117
114
110
106
103
103
102
121
121.3333333
122.2
123.8
126.4
130
134.6
139.6
144.2
147.8
150.6
151.8
151.2
149.6
147.6
145.8
144.8
145.6
148.2
152
156.6
161.6
166.6
170.4
172.8
173.4
172.2
169.6
166.8
165
165.2
167.2
170.4
174.8
179.4
183.6
187.2
190.8
194
196.8
198.8
200
199.8
197.4
193.4
188.2
182.2
175.6
169
162.6
156.2
150.4
144.6
139.8
136.2
134.2
133.8
135
14
14.33333333
15.4
17.2
19.8
23.2
27.8
33.2
38.8
44.4
49.4
53
55.8
57.4
58.6
59.6
61.6
63.8
67
70.6
75
79.4
84
87.8
91
93.4
95
96
97.2
99
102.4
106.8
111.8
117.8
124
129.4
134.2
139.4
144
147.8
150.6
152.4
152.4
150.6
147.6
143.8
139.6
135
130.4
126
121.8
117.6
113.6
110
107.2
104.8
103.2
102.4
0
0.666666667
-1.2
-1.8
-1.4
-1
0.4
-0.6
0.8
2.2
1.4
1.2
1.8
1.4
-0.6
-1.8
-1.8
-1.6
-2.2
-1
0.4
0.4
0.4
0.6
3.2
2.6
1.8
0.4
-1.8
-2
-3.2
-2.2
0.6
0.2
-0.4
0.4
0.8
1.2
-1
0.2
1.2
2
2.2
1.6
2.6
-0.2
-0.2
0.4
0
0.4
-1.2
-0.4
-0.6
0.2
-2.2
-3.2
-1.8
-1
0
-0.333333333
-0.4
-1.2
-1.8
-0.2
-0.8
-1.2
0.2
0.6
1.6
2
1.2
-0.4
0.4
-0.6
-0.6
-1.8
0
-0.6
0
-0.4
0
1.2
2
0.6
0
0
-0.2
-1
-2.4
-2.8
1.2
1.2
-1
0.6
0.8
0.6
-1
1.2
2.4
1.6
1.6
1.4
1.4
0.2
-0.6
0
0.6
0
-0.8
-0.6
0.4
0
-1.2
-1.8
-0.2
-0.4
0
0.666666667
1.2
1.8
1.4
1
0.4
0.6
0.8
2.2
1.4
1.2
1.8
1.4
0.6
1.8
1.8
1.6
2.2
1
0.4
0.4
0.4
0.6
3.2
2.6
1.8
0.4
1.8
2
3.2
2.2
0.6
0.2
0.4
0.4
0.8
1.2
1
0.2
1.2
2
2.2
1.6
2.6
0.2
0.2
0.4
0
0.4
1.2
0.4
0.6
0.2
2.2
3.2
1.8
1
Difference Y
(abs):
Statistics:
Mean:
0 0.931464174
0.333333333
0.4 Maximum:
1.2
4.6
1.8
0.2 Sum:
0.8 199.3333333
1.2
0.2 RMS:
0.6 1.239317804
1.6
2 Mean X:
1.2 1.188161994
0.4
0.4 Mean Y:
0.6 0.674766355
0.6
1.8 Maximum X:
0
4.6
0.6
0 Maximum Y:
0.4
2.8
0
1.2 Sum X:
2 127.1333333
0.6
0 Sum Y:
0
72.2
0.2
1 RMS X:
2.4
1.49556631
2.8
1.2 RMS Y:
1.2 0.913837321
1
0.6
0.8
0.6
1
1.2
2.4
1.6
1.6
1.4
1.4
0.2
0.6
0
0.6
0
0.8
0.6
0.4
0
1.2
1.8
0.2
0.4
138
140
146
148
149
145
139
133
126
120
114
111
107
105
106
109
112
116
120
122
125
126
121
113
108
101
94
88
83
82
78
75
75
78
83
87
93
98
103
106
110
111
115
119
122
125
127
128
127
102
102
101
100
100
98
94
91
89
86
84
81
79
77
76
76
74
72
71
69
68
68
64
60
57
55
52
50
47
45
41
40
39
39
38
38
37
36
34
32
30
28
27
25
23
20
18
16
16
138
141.2
144.2
145.6
145.4
142.8
138.4
132.6
126.4
120.8
115.6
111.4
108.6
107.6
107.8
109.6
112.6
115.8
119
121.8
122.8
121.4
118.6
113.8
107.4
100.8
94.8
89.6
85
81.2
78.6
77.6
77.8
79.6
83.2
87.8
92.8
97.4
102
105.6
109
112.2
115.4
118.4
121.6
124.2
125.8
127.3333333
127
102
101.4
101
100.2
98.6
96.6
94.4
91.6
88.8
86.2
83.8
81.4
79.4
77.8
76.4
75
73.8
72.4
70.8
69.6
68
65.8
63.4
60.8
57.6
54.8
52.2
49.8
47
44.6
42.4
40.8
39.4
38.8
38.2
37.6
36.6
35.4
33.8
32
30.2
28.4
26.6
24.6
22.6
20.4
18.6
16.66666667
16
0
-1.2
1.8
2.4
3.6
2.2
0.6
0.4
-0.4
-0.8
-1.6
-0.4
-1.6
-2.6
-1.8
-0.6
-0.6
0.2
1
0.2
2.2
4.6
2.4
-0.8
0.6
0.2
-0.8
-1.6
-2
0.8
-0.6
-2.6
-2.8
-1.6
-0.2
-0.8
0.2
0.6
1
0.4
1
-1.2
-0.4
0.6
0.4
0.8
1.2
0.666666667
0
0
0.6
0
-0.2
1.4
1.4
-0.4
-0.6
0.2
-0.2
0.2
-0.4
-0.4
-0.8
-0.4
1
0.2
-0.4
0.2
-0.6
0
2.2
0.6
-0.8
-0.6
0.2
-0.2
0.2
0
0.4
-1.4
-0.8
-0.4
0.2
-0.2
0.4
0.4
0.6
0.2
0
-0.2
-0.4
0.4
0.4
0.4
-0.4
-0.6
-0.666666667
0
0
1.2
1.8
2.4
3.6
2.2
0.6
0.4
0.4
0.8
1.6
0.4
1.6
2.6
1.8
0.6
0.6
0.2
1
0.2
2.2
4.6
2.4
0.8
0.6
0.2
0.8
1.6
2
0.8
0.6
2.6
2.8
1.6
0.2
0.8
0.2
0.6
1
0.4
1
1.2
0.4
0.6
0.4
0.8
1.2
0.666666667
0
0
0.6
0
0.2
1.4
1.4
0.4
0.6
0.2
0.2
0.2
0.4
0.4
0.8
0.4
1
0.2
0.4
0.2
0.6
0
2.2
0.6
0.8
0.6
0.2
0.2
0.2
0
0.4
1.4
0.8
0.4
0.2
0.2
0.4
0.4
0.6
0.2
0
0.2
0.4
0.4
0.4
0.4
0.4
0.6
0.666666667
0

Raw:
X
122
121
121
123
127
131
137
141
146
151
151
152
151
148
144
143
144
146
149
154
161
163
168
172
176
174
171
166
163
163
163
170
175
177
181
186
188
192
192
199
200
201
200
197
194
184
180
175
168
163
154
152
145
142
134
133
136
138
142
142
149
Moving Average
X:
Moving Average
Y:
122
121.3333333
122.8
124.6
127.8
131.8
136.4
141.2
145.2
148.2
150.2
150.6
149.2
147.6
146
145
145.2
147.2
150.8
154.6
159
163.6
168
170.6
172.2
171.8
170
167.4
165.2
165
166.8
169.6
173.2
177.8
181.4
184.8
187.8
191.4
194.2
196.8
198.4
199.4
198.4
195.2
191
186
180.2
174
168
162.4
156.4
151.2
145.4
141.2
138
136.6
136.6
138.2
141.4
144
145.8
15
15
16.2
18.2
21.2
24.6
29.8
35.2
40.4
45.6
50
52.6
55
56.4
57.6
59.2
62
64.6
68.2
72.2
76.6
80.8
85.2
88.4
90.8
93
94.2
95
96.8
99.6
103.8
108.8
113.8
119.8
125.4
130.2
134.2
139.8
144
147.4
149.8
151.4
150.4
148.2
145.4
141.8
138.2
134.2
130.2
126
122.2
118
114
110.8
108.6
106.2
104.8
104.2
103.6
102.6
101.8
Difference
X:
Difference
Y:
Difference X
(abs):
Difference Y
(abs):
Y
15
14
16
16
20
25
29
33
42
47
51
55
55
55
59
58
61
63
69
72
76
81
85
90
94
92
93
96
96
98
101
107
117
121
123
131
135
141
141
151
152
152
153
149
146
141
138
135
131
126
121
117
116
110
106
105
106
104
103
103
102
0
-0.333333333
-1.8
-1.6
-0.8
-0.8
0.6
-0.2
0.8
2.8
0.8
1.4
1.8
0.4
-2
-2
-1.2
-1.2
-1.8
-0.6
2
-0.6
0
1.4
3.8
2.2
1
-1.4
-2.2
-2
-3.8
0.4
1.8
-0.8
-0.4
1.2
0.2
0.6
-2.2
2.2
1.6
1.6
1.6
1.8
3
-2
-0.2
1
0
0.6
-2.4
0.8
-0.4
0.8
-4
-3.6
-0.6
-0.2
0.6
-2
3.2
0
-1
-0.2
-2.2
-1.2
0.4
-0.8
-2.2
1.6
1.4
1
2.4
0
-1.4
1.4
-1.2
-1
-1.6
0.8
-0.2
-0.6
0.2
-0.2
1.6
3.2
-1
-1.2
1
-0.8
-1.6
-2.8
-1.8
3.2
1.2
-2.4
0.8
0.8
1.2
-3
3.6
2.2
0.6
2.6
0.8
0.6
-0.8
-0.2
0.8
0.8
0
-1.2
-1
2
-0.8
-2.6
-1.2
1.2
-0.2
-0.6
0.4
0.2
0
0.333333333
1.8
1.6
0.8
0.8
0.6
0.2
0.8
2.8
0.8
1.4
1.8
0.4
2
2
1.2
1.2
1.8
0.6
2
0.6
0
1.4
3.8
2.2
1
1.4
2.2
2
3.8
0.4
1.8
0.8
0.4
1.2
0.2
0.6
2.2
2.2
1.6
1.6
1.6
1.8
3
2
0.2
1
0
0.6
2.4
0.8
0.4
0.8
4
3.6
0.6
0.2
0.6
2
3.2
0
1
0.2
2.2
1.2
0.4
0.8
2.2
1.6
1.4
1
2.4
0
1.4
1.4
1.2
1
1.6
0.8
0.2
0.6
0.2
0.2
1.6
3.2
1
1.2
1
0.8
1.6
2.8
1.8
3.2
1.2
2.4
0.8
0.8
1.2
3
3.6
2.2
0.6
2.6
0.8
0.6
0.8
0.2
0.8
0.8
0
1.2
1
2
0.8
2.6
1.2
1.2
0.2
0.6
0.4
0.2
Statistics:
Mean:
1.19470405
Maximum:
5.4
Sum:
255.6666667
RMS:
1.540785089
Mean X:
1.351401869
Mean Y:
1.038006231
Maximum X:
5.4
Maximum Y:
3.6
Sum X:
144.6
Sum Y:
111.0666667
RMS X:
1.718496288
RMS Y:
1.339704405
149
147
141
136
131
124
119
115
112
108
108
109
113
115
119
121
123
125
125
116
109
106
99
93
88
85
85
79
76
78
82
88
90
96
99
104
105
111
110
116
120
122
125
126
127
126
101
100
98
93
91
89
87
85
81
80
78
78
77
75
72
71
70
69
69
63
58
57
56
53
50
47
47
40
41
41
40
39
39
37
37
34
32
30
29
28
25
24
20
18
17
18
145.6
144.4
140.8
135.8
130.2
125
120.2
115.6
112.4
110.4
110
110.6
112.8
115.4
118.2
120.6
122.6
122
119.6
116.2
111
104.6
99
94.2
90
86
82.6
80.6
80
80.6
82.8
86.8
91
95.4
98.8
103
105.8
109.2
112.4
115.8
118.6
121.8
124
125.2
126.3333333
126
100.8
98.8
96.6
94.2
91.6
89
86.6
84.4
82.2
80.4
78.8
77.6
76
74.6
73
71.4
70.2
68.4
65.8
63.2
60.6
57.4
54.8
52.6
50.6
47.4
45
43.2
41.8
40.2
40
39.2
38.4
37.2
35.8
34
32.4
30.6
28.8
27.2
25.2
23
20.8
19.4
17.66666667
18
3.4
2.6
0.2
0.2
0.8
-1
-1.2
-0.6
-0.4
-2.4
-2
-1.6
0.2
-0.4
0.8
0.4
0.4
3
5.4
-0.2
-2
1.4
0
-1.2
-2
-1
2.4
-1.6
-4
-2.6
-0.8
1.2
-1
0.6
0.2
1
-0.8
1.8
-2.4
0.2
1.4
0.2
1
0.8
0.666666667
0
0.2
1.2
1.4
-1.2
-0.6
0
0.4
0.6
-1.2
-0.4
-0.8
0.4
1
0.4
-1
-0.4
-0.2
0.6
3.2
-0.2
-2.6
-0.4
1.2
0.4
-0.6
-0.4
2
-3.2
-0.8
0.8
0
-0.2
0.6
-0.2
1.2
0
-0.4
-0.6
0.2
0.8
-0.2
1
-0.8
-1.4
-0.666666667
0
3.4
2.6
0.2
0.2
0.8
1
1.2
0.6
0.4
2.4
2
1.6
0.2
0.4
0.8
0.4
0.4
3
5.4
0.2
2
1.4
0
1.2
2
1
2.4
1.6
4
2.6
0.8
1.2
1
0.6
0.2
1
0.8
1.8
2.4
0.2
1.4
0.2
1
0.8
0.666666667
0
0.2
1.2
1.4
1.2
0.6
0
0.4
0.6
1.2
0.4
0.8
0.4
1
0.4
1
0.4
0.2
0.6
3.2
0.2
2.6
0.4
1.2
0.4
0.6
0.4
2
3.2
0.8
0.8
0
0.2
0.6
0.2
1.2
0
0.4
0.6
0.2
0.8
0.2
1
0.8
1.4
0.666666667
0

150
130
Y-coordinate
110
90
Moving Average
70
Kalman Filter
50
30
10
50
100
150
200
250
X-coordinate

150
130
Y-coordinate
110
90
Moving Average
70
Raw Data
50
30
10
50
100
150
X-coordinate
200
250
Trial 3:
Kalman Filter Data:
Kalman:
X
72
80
81
81
83
86
91
96
103
110
118
122
124
124
121
117
111
110
113
120
128
137
144
148
149
146
141
138
138
142
150
160
168
179
190
198
206
210
212
213
211
207
202
196
190
185
178
172
166
163
163
165
169
171
172
169
162
157
Moving
Average X:
Moving
Average Y:
Difference
X:
Difference
Y:
Difference X
(abs):
Difference Y
(abs):
Y
37
41
40
41
41
42
46
49
54
58
62
63
67
71
73
77
80
82
82
87
92
98
101
104
107
110
112
115
116
119
121
127
131
135
140
144
149
153
154
153
151
147
142
132
123
113
104
96
90
89
89
89
89
89
89
86
80
74
72
77.66666667
79.4
82.2
84.4
87.4
91.8
97.2
103.6
109.8
115.4
119.6
121.8
121.6
119.4
116.6
114.4
114.2
116.4
121.6
128.4
135.4
141.2
144.8
145.6
144.4
142.4
141
141.8
145.6
151.6
159.8
169.4
179
188.2
196.6
203.2
207.8
210.4
210.6
209
205.8
201.2
196
190.2
184.2
178.2
172.8
168.4
165.8
165.2
166.2
168
169.2
168.6
166.2
162.2
157
37
39.33333333
40
41
42
43.8
46.4
49.8
53.8
57.2
60.8
64.2
67.2
70.2
73.6
76.6
78.8
81.6
84.6
88.2
92
96.4
100.4
104
106.8
109.6
112
114.4
116.6
119.6
122.8
126.6
130.8
135.4
139.8
144.2
148
150.6
152
151.6
149.4
145
139
131.4
122.8
113.6
105.2
98.4
93.6
90.6
89.2
89
89
88.4
86.6
83.6
79.6
74.2
0
2.333333333
1.6
-1.2
-1.4
-1.4
-0.8
-1.2
-0.6
0.2
2.6
2.4
2.2
2.4
1.6
0.4
-3.4
-4.2
-3.4
-1.6
-0.4
1.6
2.8
3.2
3.4
1.6
-1.4
-3
-3.8
-3.6
-1.6
0.2
-1.4
0
1.8
1.4
2.8
2.2
1.6
2.4
2
1.2
0.8
0
-0.2
0.8
-0.2
-0.8
-2.4
-2.8
-2.2
-1.2
1
1.8
3.4
2.8
-0.2
0
0
1.666666667
0
0
-1
-1.8
-0.4
-0.8
0.2
0.8
1.2
-1.2
-0.2
0.8
-0.6
0.4
1.2
0.4
-2.6
-1.2
0
1.6
0.6
0
0.2
0.4
0
0.6
-0.6
-0.6
-1.8
0.4
0.2
-0.4
0.2
-0.2
1
2.4
2
1.4
1.6
2
3
0.6
0.2
-0.6
-1.2
-2.4
-3.6
-1.6
-0.2
0
0
0.6
2.4
2.4
0.4
-0.2
0
2.333333333
1.6
1.2
1.4
1.4
0.8
1.2
0.6
0.2
2.6
2.4
2.2
2.4
1.6
0.4
3.4
4.2
3.4
1.6
0.4
1.6
2.8
3.2
3.4
1.6
1.4
3
3.8
3.6
1.6
0.2
1.4
0
1.8
1.4
2.8
2.2
1.6
2.4
2
1.2
0.8
0
0.2
0.8
0.2
0.8
2.4
2.8
2.2
1.2
1
1.8
3.4
2.8
0.2
0
0
1.666666667
0
0
1
1.8
0.4
0.8
0.2
0.8
1.2
1.2
0.2
0.8
0.6
0.4
1.2
0.4
2.6
1.2
0
1.6
0.6
0
0.2
0.4
0
0.6
0.6
0.6
1.8
0.4
0.2
0.4
0.2
0.2
1
2.4
2
1.4
1.6
2
3
0.6
0.2
0.6
1.2
2.4
3.6
1.6
0.2
0
0
0.6
2.4
2.4
0.4
0.2
Statistics:
Mean:
1.288888889
Maximum:
4.2
Sum:
224.2666667
RMS:
1.658770568
Mean X:
1.54559387
Mean Y:
1.032183908
Maximum X:
4.2
Maximum Y:
3.8
Sum X:
134.4666667
Sum Y:
89.8
RMS X:
1.877867327
RMS Y:
1.405935239
151
146
143
142
144
148
151
152
151
148
143
139
134
128
124
121
114
108
100
93
87
80
74
70
70
72
77
82
86
69
62
58
56
55
55
55
54
52
49
40
31
22
16
14
14
19
24
29
32
35
39
43
47
48
49
51
51
52
151.8
147.8
145.2
144.6
145.6
147.4
149.2
150
149
146.6
143
138.4
133.6
129.2
124.2
119
113.4
107.2
100.4
93.6
86.8
80.8
76.2
73.2
72.6
74.2
77.4
81.66666667
86
68.6
63.8
60
57.2
55.8
55
54.2
53
50
45.2
38.8
31.6
24.6
19.4
17
17.4
20
23.6
27.8
31.8
35.6
39.2
42.4
45.2
47.6
49.2
50.2
51.33333333
52
-0.8
-1.8
-2.2
-2.6
-1.6
0.6
1.8
2
2
1.4
0
0.6
0.4
-1.2
-0.2
2
0.6
0.8
-0.4
-0.6
0.2
-0.8
-2.2
-3.2
-2.6
-2.2
-0.4
0.333333333
0
0.4
-1.8
-2
-1.2
-0.8
0
0.8
1
2
3.8
1.2
-0.6
-2.6
-3.4
-3
-3.4
-1
0.4
1.2
0.2
-0.6
-0.2
0.6
1.8
0.4
-0.2
0.8
-0.333333333
0
0.8
1.8
2.2
2.6
1.6
0.6
1.8
2
2
1.4
0
0.6
0.4
1.2
0.2
2
0.6
0.8
0.4
0.6
0.2
0.8
2.2
3.2
2.6
2.2
0.4
0.333333333
0
0.4
1.8
2
1.2
0.8
0
0.8
1
2
3.8
1.2
0.6
2.6
3.4
3
3.4
1
0.4
1.2
0.2
0.6
0.2
0.6
1.8
0.4
0.2
0.8
0.333333333
0

Raw:
X
73
80
80
80
83
87
94
98
105
112
120
120
123
121
118
113
108
112
117
126
133
141
145
147
146
142
136
137
139
147
155
165
171
182
192
198
206
208
208
210
207
203
200
193
189
184
178
171
167
165
167
169
173
173
173
166
158
156
149
147
145
Moving
Average X:
Moving
Average Y:
Difference
X:
Difference
Y:
Difference X
(abs):
Difference Y
(abs):
Y
38
41
40
41
41
43
48
51
57
59
62
62
69
71
73
79
80
81
81
90
93
100
101
104
106
110
112
115
116
119
122
130
132
136
141
145
149
153
153
150
149
145
139
127
121
111
104
96
93
93
93
92
91
91
89
85
77
73
69
60
59
73
77.66666667
79.2
82
84.8
88.4
93.4
99.2
105.8
111
116
119.2
120.4
119
116.6
114.4
113.6
115.2
119.2
125.8
132.4
138.4
142.4
144.2
143.2
141.6
140
140.2
142.8
148.6
155.4
164
173
181.6
189.8
197.2
202.4
206
207.8
207.2
205.6
202.6
198.4
193.8
188.8
183
177.8
173
169.6
167.8
168.2
169.4
171
170.8
168.6
165.2
160.4
155.2
151
148.4
146.8
38
39.66666667
40.2
41.2
42.6
44.8
48
51.6
55.4
58.2
61.8
64.6
67.4
70.8
74.4
76.8
78.8
82.2
85
89
93
97.6
100.8
104.2
106.6
109.4
111.8
114.4
116.8
120.4
123.8
127.8
132.2
136.8
140.6
144.8
148.2
150
150.8
150
147.2
142
136.2
128.6
120.4
111.8
105
99.4
95.8
93.4
92.4
92
91.2
89.6
86.6
83
78.6
72.8
67.6
64
61
0
2.333333333
0.8
-2
-1.8
-1.4
0.6
-1.2
-0.8
1
4
0.8
2.6
2
1.4
-1.4
-5.6
-3.2
-2.2
0.2
0.6
2.6
2.6
2.8
2.8
0.4
-4
-3.2
-3.8
-1.6
-0.4
1
-2
0.4
2.2
0.8
3.6
2
0.2
2.8
1.4
0.4
1.6
-0.8
0.2
1
0.2
-2
-2.6
-2.8
-1.2
-0.4
2
2.2
4.4
0.8
-2.4
0.8
-2
-1.4
-1.8
0
1.333333333
-0.2
-0.2
-1.6
-1.8
0
-0.6
1.6
0.8
0.2
-2.6
1.6
0.2
-1.4
2.2
1.2
-1.2
-4
1
0
2.4
0.2
-0.2
-0.6
0.6
0.2
0.6
-0.8
-1.4
-1.8
2.2
-0.2
-0.8
0.4
0.2
0.8
3
2.2
0
1.8
3
2.8
-1.6
0.6
-0.8
-1
-3.4
-2.8
-0.4
0.6
0
-0.2
1.4
2.4
2
-1.6
0.2
1.4
-4
-2
0
2.333333333
0.8
2
1.8
1.4
0.6
1.2
0.8
1
4
0.8
2.6
2
1.4
1.4
5.6
3.2
2.2
0.2
0.6
2.6
2.6
2.8
2.8
0.4
4
3.2
3.8
1.6
0.4
1
2
0.4
2.2
0.8
3.6
2
0.2
2.8
1.4
0.4
1.6
0.8
0.2
1
0.2
2
2.6
2.8
1.2
0.4
2
2.2
4.4
0.8
2.4
0.8
2
1.4
1.8
0
1.333333333
0.2
0.2
1.6
1.8
0
0.6
1.6
0.8
0.2
2.6
1.6
0.2
1.4
2.2
1.2
1.2
4
1
0
2.4
0.2
0.2
0.6
0.6
0.2
0.6
0.8
1.4
1.8
2.2
0.2
0.8
0.4
0.2
0.8
3
2.2
0
1.8
3
2.8
1.6
0.6
0.8
1
3.4
2.8
0.4
0.6
0
0.2
1.4
2.4
2
1.6
0.2
1.4
4
2
Statistics:
Mean:
1.483141762
Maximum:
5.6
Sum:
258.0666667
RMS:
1.851587976
Mean X:
1.675862069
Mean Y:
1.290421456
Maximum X:
5.6
Maximum Y:
4.4
Sum X:
145.8
Sum Y:
112.2666667
RMS X:
2.014798381
RMS Y:
1.672526099
145
148
152
154
152
150
146
141
138
133
127
125
122
113
108
98
93
88
80
75
73
74
76
83
86
87
59
58
58
57
55
51
48
36
28
21
17
18
19
25
28
33
33
35
40
45
47
47
48
51
51
52
147.4
148.8
150.2
151.2
150.8
148.6
145.4
141.6
137
132.8
129
124
119
113.2
106.8
100
93.4
86.8
81.8
78
75.6
76.2
78.4
81.2
85.33333333
87
58.8
58.2
57.4
55.8
53.8
49.4
43.6
36.8
30
24
20.6
20
21.4
24.6
27.6
30.8
33.8
37.2
40
42.8
45.4
47.6
48.8
49.8
51.33333333
52
-2.4
-0.8
1.8
2.8
1.2
1.4
0.6
-0.6
1
0.2
-2
1
3
-0.2
1.2
-2
-0.4
1.2
-1.8
-3
-2.6
-2.2
-2.4
1.8
0.666666667
0
0.2
-0.2
0.6
1.2
1.2
1.6
4.4
-0.8
-2
-3
-3.6
-2
-2.4
0.4
0.4
2.2
-0.8
-2.2
0
2.2
1.6
-0.6
-0.8
1.2
-0.333333333
0
2.4
0.8
1.8
2.8
1.2
1.4
0.6
0.6
1
0.2
2
1
3
0.2
1.2
2
0.4
1.2
1.8
3
2.6
2.2
2.4
1.8
0.666666667
0
0.2
0.2
0.6
1.2
1.2
1.6
4.4
0.8
2
3
3.6
2
2.4
0.4
0.4
2.2
0.8
2.2
0
2.2
1.6
0.6
0.8
1.2
0.333333333
0

150
130
Y-coordinate
110
90
Moving Average
70
Kalman Filter
50
30
10
50
100
150
200
250
X-coordinate

150
130
Y-coordinate
110
90
Moving Average
70
Raw Data
50
30
10
50
100
150
X-coordinate
200
250
Trial 4:
Kalman Filter:
Moving
Average X:
Moving
Average Y:
Kalman:
X
162
Y
124
162
124
163
168
171
174
177
181
184
186
192
194
197
202
204
203
197
190
182
173
165
161
159
159
162
164
167
170
172
172
170
163
156
145
138
136
136
140
144
148
151
153
152
151
147
141
138
132
127
123
121
119
116
110
103
97
91
85
125
128
131
132
133
133
135
136
138
140
143
147
148
147
140
131
121
111
101
93
90
89
89
90
90
89
89
88
86
82
74
62
55
53
53
52
52
51
51
51
51
49
46
40
34
26
17
13
13
14
18
22
26
30
33
37
164.3333333
167.6
170.6
174.2
177.4
180.4
184
187.4
190.6
194.2
197.8
200
200.6
199.2
195.2
189
181.4
174.2
168
163.4
161.2
161
162.2
164.4
167
169
170.2
169.4
166.6
161.2
154.4
147.6
142.2
139
138.8
140.8
143.8
147.2
149.6
151
150.8
148.8
145.8
141.8
137
132.2
128.2
124.4
121.2
117.8
113.8
109
103.4
97.2
91
85.8
125.6666667
128
129.8
131.4
132.8
133.8
135
136.4
138.4
140.8
143.2
145
145
142.6
137.4
130
120.8
111.4
103.2
96.8
92.4
90.2
89.6
89.4
89.4
89.2
88.4
86.8
83.8
78.4
71.8
65.2
59.4
55
53
52.2
51.8
51.4
51.2
50.6
49.6
47.4
44
39
32.6
26
20.6
16.6
15
16
18.6
22
25.8
29.6
33
35.8
Difference
X:
Difference
Y:
0
1.333333333
0.4
0.4
-0.2
-0.4
0.6
0
-1.4
1.4
-0.2
-0.8
2
3.4
3.8
1.8
1
0.6
-1.2
-3
-2.4
-2.2
-2
-0.2
-0.4
0
1
1.8
2.6
3.4
1.8
1.6
-2.6
-4.2
-3
-2.8
-0.8
0.2
0.8
1.4
2
1.2
2.2
1.2
-0.8
1
-0.2
-1.2
-1.4
-0.2
1.2
2.2
1
-0.4
-0.2
0
-0.8
0
0.666666667
0
1.2
0.6
0.2
-0.8
0
-0.4
-0.4
-0.8
-0.2
2
3
4.4
2.6
1
0.2
-0.4
-2.2
-3.8
-2.4
-1.2
-0.6
0.6
0.6
-0.2
0.6
1.2
2.2
3.6
2.2
-3.2
-4.4
-2
0
-0.2
0.2
-0.4
-0.2
0.4
1.4
1.6
2
1
1.4
0
-3.6
-3.6
-2
-2
-0.6
0
0.2
0.4
0
1.2
Difference X
(abs):
Difference Y
(abs):
0
1.333333333
0.4
0.4
0.2
0.4
0.6
0
1.4
1.4
0.2
0.8
2
3.4
3.8
1.8
1
0.6
1.2
3
2.4
2.2
2
0.2
0.4
0
1
1.8
2.6
3.4
1.8
1.6
2.6
4.2
3
2.8
0.8
0.2
0.8
1.4
2
1.2
2.2
1.2
0.8
1
0.2
1.2
1.4
0.2
1.2
2.2
1
0.4
0.2
0
0.8
0.666666667
0
1.2
0.6
0.2
0.8
0
0.4
0.4
0.8
0.2
2
3
4.4
2.6
1
0.2
0.4
2.2
3.8
2.4
1.2
0.6
0.6
0.6
0.2
0.6
1.2
2.2
3.6
2.2
3.2
4.4
2
0
0.2
0.2
0.4
0.2
0.4
1.4
1.6
2
1
1.4
0
3.6
3.6
2
2
0.6
0
0.2
0.4
0
1.2
Statistics:
Mean:
1.119314642
Maximum:
4.4
Sum:
239.5333333
RMS:
1.53576267
Mean X:
1.32211838
Mean Y:
0.916510903
Maximum X:
4.4
Maximum Y:
4.4
Sum X:
141.4666667
Sum Y:
98.06666667
RMS X:
1.686695849
RMS Y:
1.368280333
79
77
78
82
87
92
99
107
116
121
125
124
123
119
115
111
109
108
108
115
122
129
137
141
145
149
149
147
144
141
139
137
137
138
142
149
157
161
166
171
175
181
186
189
194
196
199
202
202
201
39
40
41
43
46
50
53
56
60
62
63
64
64
67
69
71
73
74
75
77
81
85
87
92
96
99
101
103
105
107
109
110
110
111
114
117
121
123
125
128
131
133
134
136
137
139
140
142
144
143
82
80.2
80.6
83.2
87.6
93.4
100.2
107
113.6
118.6
121.8
122.4
121.2
118.4
115.4
112.4
110.2
110.2
112.4
116.4
122.2
128.8
134.8
140.2
144.2
146.2
146.8
146
144
141.6
139.6
138.4
138.6
140.6
144.6
149.4
155
160.8
166
170.8
175.8
180.4
185
189.2
192.8
196
198.6
200
201.6666667
201
38
40
41.8
44
46.6
49.6
53
56.2
58.8
61
62.6
64
65.4
67
68.8
70.8
72.4
74
76
78.4
81
84.4
88.2
91.8
95
98.2
100.8
103
105
106.8
108.2
109.4
110.8
112.4
114.6
117.2
120
122.8
125.6
128
130.2
132.4
134.2
135.8
137.2
138.8
140.4
141.6
143
143
-3
-3.2
-2.6
-1.2
-0.6
-1.4
-1.2
0
2.4
2.4
3.2
1.6
1.8
0.6
-0.4
-1.4
-1.2
-2.2
-4.4
-1.4
-0.2
0.2
2.2
0.8
0.8
2.8
2.2
1
0
-0.6
-0.6
-1.4
-1.6
-2.6
-2.6
-0.4
2
0.2
0
0.2
-0.8
0.6
1
-0.2
1.2
0
0.4
2
0.333333333
0
1
0
-0.8
-1
-0.6
0.4
0
-0.2
1.2
1
0.4
0
-1.4
0
0.2
0.2
0.6
0
-1
-1.4
0
0.6
-1.2
0.2
1
0.8
0.2
0
0
0.2
0.8
0.6
-0.8
-1.4
-0.6
-0.2
1
0.2
-0.6
0
0.8
0.6
-0.2
0.2
-0.2
0.2
-0.4
0.4
1
0
3
3.2
2.6
1.2
0.6
1.4
1.2
0
2.4
2.4
3.2
1.6
1.8
0.6
0.4
1.4
1.2
2.2
4.4
1.4
0.2
0.2
2.2
0.8
0.8
2.8
2.2
1
0
0.6
0.6
1.4
1.6
2.6
2.6
0.4
2
0.2
0
0.2
0.8
0.6
1
0.2
1.2
0
0.4
2
0.333333333
0
1
0
0.8
1
0.6
0.4
0
0.2
1.2
1
0.4
0
1.4
0
0.2
0.2
0.6
0
1
1.4
0
0.6
1.2
0.2
1
0.8
0.2
0
0
0.2
0.8
0.6
0.8
1.4
0.6
0.2
1
0.2
0.6
0
0.8
0.6
0.2
0.2
0.2
0.2
0.4
0.4
1
0

Moving
Average X:
Moving
Average Y:
Raw:
X
163
Y
125
163
163
169
172
174
177
182
185
186
194
194
197
204
203
201
192
186
179
170
165
163
163
163
166
167
169
172
172
172
168
159
153
141
138
140
141
145
148
150
152
153
151
149
144
139
138
131
126
124
123
121
117
107
102
96
91
85
80
80
83
125
129
132
132
133
133
135
136
139
141
145
148
148
144
136
126
118
109
99
94
94
93
94
93
92
90
89
88
86
80
70
57
56
57
57
55
54
52
52
52
52
49
44
37
33
23
15
16
18
18
23
25
29
32
34
37
39
39
40
165
168.2
171
174.8
178
180.8
184.8
188.2
191.2
195
198.4
199.8
199.4
197.2
192.2
185.6
178.4
172.6
168
164.8
164
164.4
165.6
167.4
169.2
170.4
170.6
168.6
164.8
158.6
151.8
146.2
142.6
141
142.4
144.8
147.2
149.6
150.8
151
149.8
147.2
144.2
140.2
135.6
131.6
128.4
125
122.2
118.4
114
108.6
102.6
96.2
90.8
86.4
83.8
83
84.2
Difference X:
Difference Y:
125
126.3333333
128.6
130.2
131.8
133
133.8
135.2
136.8
139.2
141.8
144.2
145.2
144.2
140.4
134.4
126.6
117.6
109.2
102.8
97.8
94.8
93.6
93.2
92.4
91.6
90.4
89
86.6
82.6
76.2
69.8
64
59.4
56.4
55.8
55
54
53
52.4
51.4
49.8
46.8
43
37.2
30.4
24.8
21
18
18
20
22.6
25.4
28.6
31.4
34.2
36.2
37.8
39.8
42
-2
0.8
1
-0.8
-1
1.2
0.2
-2.2
2.8
-1
-1.4
4.2
3.6
3.8
-0.2
0.4
0.6
-2.6
-3
-1.8
-1
-1.4
0.4
-0.4
-0.2
1.6
1.4
3.4
3.2
0.4
1.2
-5.2
-4.6
-1
-1.4
0.2
0.8
0.4
1.2
2
1.2
1.8
-0.2
-1.2
2.4
-0.6
-2.4
-1
0.8
2.6
3
-1.6
-0.6
-0.2
0.2
-1.4
-3.8
-3
-1.2
0
1.333333333
0.4
1.8
0.2
0
-0.8
-0.2
-0.8
-0.2
-0.8
0.8
2.8
3.8
3.6
1.6
-0.6
0.4
-0.2
-3.8
-3.8
-0.8
-0.6
0.8
0.6
0.4
-0.4
0
1.4
3.4
3.8
0.2
-7
-3.4
0.6
1.2
0
0
-1
-0.4
0.6
2.2
2.2
1
-0.2
2.6
-1.8
-6
-2
0
-2
0.4
-0.4
0.4
0.6
-0.2
0.8
1.2
-0.8
-2
Difference X
(abs):
Difference Y
(abs):
0
2
0.8
1
0.8
1
1.2
0.2
2.2
2.8
1
1.4
4.2
3.6
3.8
0.2
0.4
0.6
2.6
3
1.8
1
1.4
0.4
0.4
0.2
1.6
1.4
3.4
3.2
0.4
1.2
5.2
4.6
1
1.4
0.2
0.8
0.4
1.2
2
1.2
1.8
0.2
1.2
2.4
0.6
2.4
1
0.8
2.6
3
1.6
0.6
0.2
0.2
1.4
3.8
3
1.2
1.333333333
0.4
1.8
0.2
0
0.8
0.2
0.8
0.2
0.8
0.8
2.8
3.8
3.6
1.6
0.6
0.4
0.2
3.8
3.8
0.8
0.6
0.8
0.6
0.4
0.4
0
1.4
3.4
3.8
0.2
7
3.4
0.6
1.2
0
0
1
0.4
0.6
2.2
2.2
1
0.2
2.6
1.8
6
2
0
2
0.4
0.4
0.4
0.6
0.2
0.8
1.2
0.8
2
Statistics:
Mean:
1.308411215
Maximum:
7
Sum:
280
RMS:
1.779822293
Mean X:
1.475389408
Mean Y:
1.141433022
Maximum X:
5.2
Maximum Y:
7
Sum X:
157.8666667
Sum Y:
122.1333333
RMS X:
1.894715831
RMS Y:
1.656981203
87
91
96
102
111
118
121
123
120
120
116
113
110
109
109
111
121
126
133
139
141
144
149
147
144
141
139
139
138
138
140
146
153
161
161
167
171
175
182
186
189
194
195
199
202
201
198
44
48
52
54
57
60
62
62
63
63
69
70
72
74
73
75
78
83
86
88
94
97
99
101
102
105
108
109
109
109
111
116
119
122
123
126
128
132
133
133
136
138
139
140
143
145
141
87.4
91.8
97.4
103.6
109.6
115
118.6
120.4
120
118.4
115.8
113.6
111.4
110.4
112
115.2
120
126
132
136.6
141.2
144
145
145
144
142
140.2
139
138.8
140.2
143
147.6
152.2
157.6
162.6
167
171.2
176.2
180.6
185.2
189.2
192.6
195.8
198.2
199
200.3333333
198
44.6
47.6
51
54.2
57
59
60.8
62
63.8
65.4
67.4
69.6
71.6
72.8
74.4
76.6
79
82
85.8
89.6
92.8
95.8
98.6
100.8
103
105
106.6
108
109.2
110.8
112.8
115.4
118.2
121.2
123.6
126.2
128.4
130.4
132.4
134.4
135.8
137.2
139.2
141
141.6
143
141
-0.4
-0.8
-1.4
-1.6
1.4
3
2.4
2.6
0
1.6
0.2
-0.6
-1.4
-1.4
-3
-4.2
1
0
1
2.4
-0.2
0
4
2
0
-1
-1.2
0
-0.8
-2.2
-3
-1.6
0.8
3.4
-1.6
0
-0.2
-1.2
1.4
0.8
-0.2
1.4
-0.8
0.8
3
0.666666667
0
-0.6
0.4
1
-0.2
0
1
1.2
0
-0.8
-2.4
1.6
0.4
0.4
1.2
-1.4
-1.6
-1
1
0.2
-1.6
1.2
1.2
0.4
0.2
-1
0
1.4
1
-0.2
-1.8
-1.8
0.6
0.8
0.8
-0.6
-0.2
-0.4
1.6
0.6
-1.4
0.2
0.8
-0.2
-1
1.4
2
0
0.4
0.8
1.4
1.6
1.4
3
2.4
2.6
0
1.6
0.2
0.6
1.4
1.4
3
4.2
1
0
1
2.4
0.2
0
4
2
0
1
1.2
0
0.8
2.2
3
1.6
0.8
3.4
1.6
0
0.2
1.2
1.4
0.8
0.2
1.4
0.8
0.8
3
0.666666667
0
0.6
0.4
1
0.2
0
1
1.2
0
0.8
2.4
1.6
0.4
0.4
1.2
1.4
1.6
1
1
0.2
1.6
1.2
1.2
0.4
0.2
1
0
1.4
1
0.2
1.8
1.8
0.6
0.8
0.8
0.6
0.2
0.4
1.6
0.6
1.4
0.2
0.8
0.2
1
1.4
2
0

150
130
Y-coordinate
110
90
Moving Average
70
Kalman Filter
50
30
10
50
100
150
200
250
X-coordinate

150
130
Y-coordinate
110
90
Moving Average
70
Raw Data
50
30
10
50
100
150
X-coordinate
200
250
Trial 5:
Kalman Filter Data:
Kalman:
X
109
108
100
93
88
83
79
78
77
77
78
83
89
95
101
104
107
110
112
115
119
122
124
125
124
123
118
112
105
101
96
91
87
84
81
78
77
80
84
90
100
109
117
123
128
127
124
119
114
113
115
121
126
133
139
144
149
153
Moving
Average X:
Moving
Average Y:
Difference
X:
Difference
Y:
Difference X
(abs):
Difference Y
(abs):
Y
27
28
32
34
36
40
46
48
50
51
51
46
42
39
35
32
28
27
25
24
22
21
17
16
15
18
23
28
30
33
35
39
40
41
45
47
48
50
51
54
59
63
67
73
76
78
79
78
80
80
82
85
88
92
94
97
102
106
109
105.6666667
99.6
94.4
88.6
84.2
81
78.8
77.8
78.6
80.8
84.4
89.2
94.4
99.2
103.4
106.8
109.6
112.6
115.6
118.4
121
122.8
123.6
122.8
120.4
116.4
111.8
106.4
101
96
91.8
87.8
84.2
81.4
80
80
81.8
86.2
92.6
100
107.8
115.4
120.8
123.8
124.2
122.4
119.4
117
116.4
117.8
121.6
126.8
132.6
138.2
143.6
147.8
150.2
27
29
31.4
34
37.6
40.8
44
47
49.2
49.2
48
45.8
42.6
38.8
35.2
32.2
29.4
27.2
25.2
23.8
21.8
20
18.2
17.4
17.8
20
22.8
26.4
29.8
33
35.4
37.6
40
42.4
44.2
46.2
48.2
50
52.4
55.4
58.8
63.2
67.6
71.4
74.6
76.8
78.2
79
79.8
81
83
85.4
88.2
91.2
94.6
98.2
101.4
104.2
0
2.333333333
0.4
-1.4
-0.6
-1.2
-2
-0.8
-0.8
-1.6
-2.8
-1.4
-0.2
0.6
1.8
0.6
0.2
0.4
-0.6
-0.6
0.6
1
1.2
1.4
1.2
2.6
1.6
0.2
-1.4
0
0
-0.8
-0.8
-0.2
-0.4
-2
-3
-1.8
-2.2
-2.6
0
1.2
1.6
2.2
4.2
2.8
1.6
-0.4
-3
-3.4
-2.8
-0.6
-0.8
0.4
0.8
0.4
1.2
2.8
0
-1
0.6
0
-1.6
-0.8
2
1
0.8
1.8
3
0.2
-0.6
0.2
-0.2
-0.2
-1.4
-0.2
-0.2
0.2
0.2
1
-1.2
-1.4
-2.8
-2
0.2
1.6
0.2
0
-0.4
1.4
0
-1.4
0.8
0.8
-0.2
0
-1.4
-1.4
0.2
-0.2
-0.6
1.6
1.4
1.2
0.8
-1
0.2
-1
-1
-0.4
-0.2
0.8
-0.6
-1.2
0.6
1.8
0
2.333333333
0.4
1.4
0.6
1.2
2
0.8
0.8
1.6
2.8
1.4
0.2
0.6
1.8
0.6
0.2
0.4
0.6
0.6
0.6
1
1.2
1.4
1.2
2.6
1.6
0.2
1.4
0
0
0.8
0.8
0.2
0.4
2
3
1.8
2.2
2.6
0
1.2
1.6
2.2
4.2
2.8
1.6
0.4
3
3.4
2.8
0.6
0.8
0.4
0.8
0.4
1.2
2.8
0
1
0.6
0
1.6
0.8
2
1
0.8
1.8
3
0.2
0.6
0.2
0.2
0.2
1.4
0.2
0.2
0.2
0.2
1
1.2
1.4
2.8
2
0.2
1.6
0.2
0
0.4
1.4
0
1.4
0.8
0.8
0.2
0
1.4
1.4
0.2
0.2
0.6
1.6
1.4
1.2
0.8
1
0.2
1
1
0.4
0.2
0.8
0.6
1.2
0.6
1.8
Statistics:
Mean:
1.230930931
Maximum:
4.2
Sum:
273.2666667
RMS:
1.53411
Mean X:
1.462462462
Mean Y:
0.999399399
Maximum X:
4.2
Maximum Y:
3.6
Sum X:
162.3333333
Sum Y:
110.9333333
RMS X:
1.760846552
RMS Y:
1.267440889
154
151
146
143
145
150
156
160
165
170
176
188
195
201
204
206
206
203
201
194
187
181
174
171
167
165
165
168
172
174
175
172
167
158
150
145
142
142
144
149
153
154
153
150
146
139
135
132
128
126
126
124
122
108
108
109
111
115
120
124
126
129
132
135
141
146
150
155
156
156
152
144
134
124
115
107
100
96
95
95
95
93
91
90
88
83
76
71
65
61
59
58
57
57
56
54
49
43
35
29
25
23
21
21
18
16
150.6
149.4
147.8
147
148
150.8
155.2
160.2
165.4
171.8
178.8
186
192.8
198.8
202.4
204
204
202
198.2
193.2
187.4
181.4
176
171.6
168.4
167.2
167.4
168.8
170.8
172.2
172
169.2
164.4
158.4
152.4
147.4
144.6
144.4
146
148.4
150.6
151.8
151.2
148.4
144.6
140.4
136
132
129.4
127.2
125.2
124
122
106.6
108.4
110.2
112.6
115.8
119.2
122.8
126.2
129.2
132.6
136.6
140.8
145.4
149.6
152.6
153.8
152.6
148.4
142
133.8
124.8
116
108.4
102.6
98.6
96.2
94.8
93.8
92.8
91.4
89
85.6
81.6
76.6
71.2
66.4
62.8
60
58.4
57.4
56.4
54.6
51.8
47.4
42
36.2
31
26.6
23.8
21.6
19.8
18.33333333
16
3.4
1.6
-1.8
-4
-3
-0.8
0.8
-0.2
-0.4
-1.8
-2.8
2
2.2
2.2
1.6
2
2
1
2.8
0.8
-0.4
-0.4
-2
-0.6
-1.4
-2.2
-2.4
-0.8
1.2
1.8
3
2.8
2.6
-0.4
-2.4
-2.4
-2.6
-2.4
-2
0.6
2.4
2.2
1.8
1.6
1.4
-1.4
-1
0
-1.4
-1.2
0.8
0
0
1.4
-0.4
-1.2
-1.6
-0.8
0.8
1.2
-0.2
-0.2
-0.6
-1.6
0.2
0.6
0.4
2.4
2.2
3.4
3.6
2
0.2
-0.8
-1
-1.4
-2.6
-2.6
-1.2
0.2
1.2
0.2
-0.4
1
2.4
1.4
-0.6
-0.2
-1.4
-1.8
-1
-0.4
-0.4
0.6
1.4
2.2
1.6
1
-1.2
-2
-1.6
-0.8
-0.6
1.2
-0.333333333
0
3.4
1.6
1.8
4
3
0.8
0.8
0.2
0.4
1.8
2.8
2
2.2
2.2
1.6
2
2
1
2.8
0.8
0.4
0.4
2
0.6
1.4
2.2
2.4
0.8
1.2
1.8
3
2.8
2.6
0.4
2.4
2.4
2.6
2.4
2
0.6
2.4
2.2
1.8
1.6
1.4
1.4
1
0
1.4
1.2
0.8
0
0
1.4
0.4
1.2
1.6
0.8
0.8
1.2
0.2
0.2
0.6
1.6
0.2
0.6
0.4
2.4
2.2
3.4
3.6
2
0.2
0.8
1
1.4
2.6
2.6
1.2
0.2
1.2
0.2
0.4
1
2.4
1.4
0.6
0.2
1.4
1.8
1
0.4
0.4
0.6
1.4
2.2
1.6
1
1.2
2
1.6
0.8
0.6
1.2
0.333333333
0

Raw:
X
109
109
99
93
89
84
81
81
80
79
80
88
93
98
102
104
107
110
112
115
120
122
124
124
123
121
115
110
103
101
96
91
88
85
83
79
79
84
89
94
105
112
118
123
127
123
119
115
112
115
118
126
129
136
141
145
150
153
152
147
142
Moving
Average X:
Moving
Average Y:
Difference X:
Difference Y:
Difference X
(abs):
Difference Y
(abs):
Y
28
28
33
34
37
42
48
48
50
50
49
43
40
38
34
32
29
28
26
25
23
22
16
17
17
22
27
30
31
33
35
40
40
41
46
48
48
50
51
56
61
64
69
74
76
77
77
77
80
80
83
87
89
93
95
98
103
107
107
107
109
109
105.6666667
99.8
94.8
89.2
85.6
83
81
80.2
81.6
84
87.6
92.2
97
100.8
104.2
107
109.6
112.8
115.8
118.6
121
122.6
122.8
121.4
118.6
114.4
110
105
100.2
95.8
92.2
88.6
85.2
82.8
82
82.8
85
90.2
96.8
103.6
110.4
117
120.6
122
121.4
119.2
116.8
115.8
117.2
120
124.8
130
135.4
140.2
145
148.2
149.4
148.8
147.2
146.2
28
29.66666667
32
34.8
38.8
41.8
45
47.6
49
48
46.4
44
40.8
37.4
34.6
32.2
29.8
28
26.2
24.8
22.4
20.6
19
18.8
19.8
22.6
25.4
28.6
31.2
33.8
35.8
37.8
40.4
43
44.6
46.6
48.6
50.6
53.2
56.4
60.2
64.8
68.8
72
74.6
76.2
77.4
78.2
79.4
81.4
83.8
86.4
89.4
92.4
95.6
99.2
102
104.4
106.6
108.4
110.4
0
3.333333333
-0.8
-1.8
-0.2
-1.6
-2
0
-0.2
-2.6
-4
0.4
0.8
1
1.2
-0.2
0
0.4
-0.8
-0.8
1.4
1
1.4
1.2
1.6
2.4
0.6
0
-2
0.8
0.2
-1.2
-0.6
-0.2
0.2
-3
-3.8
-1
-1.2
-2.8
1.4
1.6
1
2.4
5
1.6
-0.2
-1.8
-3.8
-2.2
-2
1.2
-1
0.6
0.8
0
1.8
3.6
3.2
-0.2
-4.2
0
-1.666666667
1
-0.8
-1.8
0.2
3
0.4
1
2
2.6
-1
-0.8
0.6
-0.6
-0.2
-0.8
0
-0.2
0.2
0.6
1.4
-3
-1.8
-2.8
-0.6
1.6
1.4
-0.2
-0.8
-0.8
2.2
-0.4
-2
1.4
1.4
-0.6
-0.6
-2.2
-0.4
0.8
-0.8
0.2
2
1.4
0.8
-0.4
-1.2
0.6
-1.4
-0.8
0.6
-0.4
0.6
-0.6
-1.2
1
2.6
0.4
-1.4
-1.4
0
3.333333333
0.8
1.8
0.2
1.6
2
0
0.2
2.6
4
0.4
0.8
1
1.2
0.2
0
0.4
0.8
0.8
1.4
1
1.4
1.2
1.6
2.4
0.6
0
2
0.8
0.2
1.2
0.6
0.2
0.2
3
3.8
1
1.2
2.8
1.4
1.6
1
2.4
5
1.6
0.2
1.8
3.8
2.2
2
1.2
1
0.6
0.8
0
1.8
3.6
3.2
0.2
4.2
0
1.666666667
1
0.8
1.8
0.2
3
0.4
1
2
2.6
1
0.8
0.6
0.6
0.2
0.8
0
0.2
0.2
0.6
1.4
3
1.8
2.8
0.6
1.6
1.4
0.2
0.8
0.8
2.2
0.4
2
1.4
1.4
0.6
0.6
2.2
0.4
0.8
0.8
0.2
2
1.4
0.8
0.4
1.2
0.6
1.4
0.8
0.6
0.4
0.6
0.6
1.2
1
2.6
0.4
1.4
1.4
Statistics:
Mean:
1.402102102
Maximum:
5.2
Sum:
311.2666667
RMS:
1.752087272
Mean X:
1.598798799
Mean Y:
1.205405405
Maximum X:
5.2
Maximum Y:
4
Sum X:
177.4666667
Sum Y:
133.8
RMS X:
1.986218786
RMS Y:
1.481402901
142
148
155
160
161
166
171
178
193
196
201
202
204
203
200
199
190
185
179
174
173
168
168
167
173
175
175
175
170
164
154
148
145
145
145
149
153
156
153
152
148
143
136
135
133
129
128
128
125
123
112
117
122
125
126
129
132
135
144
147
151
155
154
154
149
138
130
120
115
107
102
99
99
99
98
93
91
91
88
81
74
70
65
62
62
60
59
59
57
53
48
41
33
29
26
26
23
23
18
17
146.8
149.4
153.2
158
162.6
167.2
173.8
180.8
187.8
194
199.2
201.2
202
201.6
199.2
195.4
190.6
185.4
180.2
175.8
172.4
170
169.8
170.2
171.6
173
173.6
171.8
167.6
162.2
156.2
151.2
147.4
146.4
147.4
149.6
151.2
152.6
152.4
150.4
146.4
142.8
139
135.2
132.2
130.6
128.6
126.6
125.3333333
123
113.4
117
120.4
123.8
126.8
129.4
133.2
137.4
141.8
146.4
150.2
152.2
152.6
150
145
138.2
130.4
122
114.8
108.6
104.4
101.2
99.4
97.6
96
94.4
92.2
88.8
85
80.8
75.6
70.4
66.6
63.8
61.6
60.4
59.4
57.6
55.2
51.6
46.4
40.8
35.4
31
27.4
25.4
23.2
21.4
19.33333333
17
-4.8
-1.4
1.8
2
-1.6
-1.2
-2.8
-2.8
5.2
2
1.8
0.8
2
1.4
0.8
3.6
-0.6
-0.4
-1.2
-1.8
0.6
-2
-1.8
-3.2
1.4
2
1.4
3.2
2.4
1.8
-2.2
-3.2
-2.4
-1.4
-2.4
-0.6
1.8
3.4
0.6
1.6
1.6
0.2
-3
-0.2
0.8
-1.6
-0.6
1.4
-0.333333333
0
-1.4
0
1.6
1.2
-0.8
-0.4
-1.2
-2.4
2.2
0.6
0.8
2.8
1.4
4
4
-0.2
-0.4
-2
0.2
-1.6
-2.4
-2.2
-0.4
1.4
2
-1.4
-1.2
2.2
3
0.2
-1.6
-0.4
-1.6
-1.8
0.4
-0.4
-0.4
1.4
1.8
1.4
1.6
0.2
-2.4
-2
-1.4
0.6
-0.2
1.6
-1.333333333
0
4.8
1.4
1.8
2
1.6
1.2
2.8
2.8
5.2
2
1.8
0.8
2
1.4
0.8
3.6
0.6
0.4
1.2
1.8
0.6
2
1.8
3.2
1.4
2
1.4
3.2
2.4
1.8
2.2
3.2
2.4
1.4
2.4
0.6
1.8
3.4
0.6
1.6
1.6
0.2
3
0.2
0.8
1.6
0.6
1.4
0.333333333
0
1.4
0
1.6
1.2
0.8
0.4
1.2
2.4
2.2
0.6
0.8
2.8
1.4
4
4
0.2
0.4
2
0.2
1.6
2.4
2.2
0.4
1.4
2
1.4
1.2
2.2
3
0.2
1.6
0.4
1.6
1.8
0.4
0.4
0.4
1.4
1.8
1.4
1.6
0.2
2.4
2
1.4
0.6
0.2
1.6
1.333333333
0

150
130
Y-coordinate
110
90
Moving Average
70
Kalman Filter
50
30
10
50
100
150
200
250
X-coordinate

150
130
Y-coordinate
110
90
Moving Average
70
Raw Data
50
30
10
50
100
150
X-coordinate
200
250
Appendix C: Source Code
// Interactive Human Interfacing Device Software Alan Cheng 2013-2014

// Build 1 Version: Zeta
//
// [NOTE] This code has not been cleaned-up, so it may be messy and hard to read
#include
#include
#include
#include
#include
#include
#include
#include
#include
#include
#include
"stdafx.h"
<iostream>
<fstream>
<vector>
<math.h>
"C:/Program Files/OpenNI2/Include/OpenNI.h"
"opencv2/opencv.hpp"
<opencv2/core/core.hpp>
<opencv2/highgui/highgui.hpp>
<opencv2/imgproc/imgproc.hpp>
<Windows.h>
using namespace std;

using namespace openni;
using namespace cv;
#define CVX_RED
#define CVX_GREEN
#define CVX_BLUE
CV_RGB(0xff,0x00,0x00)
CV_RGB(0x00,0xff,0x00)
CV_RGB(0x00,0x00,0xff)
void fingerDetection(cv::Mat binaryImg, cv::Mat colorImg, vector<int> OldOutX,

vector<int> OldOutY);
void Calibration(cv::Mat binaryImg, cv::Mat colorImg, int* centerxOut, int* centeryOut,
int* length, int* width);
void MouseMove(int x, int y);
void LeftClick();
vector<int> OutX, OutY;
int UpX, UpY, DownX, DownY, CurX, CurY;
int UpXCali, UpYCali, DownXCali, DownYCali, CurXCali, CurYCali;
double ratioX, ratioY;
int displacementX, displacementY;
//Detect and return mouse position
//Initialization loop variant
void CallBackFunc(int event, int x, int y, int flags, void* userdata)
{
CurX = x;
CurY = y;
if ( event == EVENT_LBUTTONDOWN )
{
UpX = x;
UpY = y;
}
else if ( event == EVENT_RBUTTONDOWN )
{
DownX = x;
DownY = y;
}
}
//Calibration Loop Variant

void CallBackFuncCali(int event, int x, int y, int flags, void* userdata)
{
CurXCali = x;
CurYCali = y;
{
UpXCali = x;
UpYCali = y;
}
{
DownXCali = x;
DownYCali = y;
}
}
//Main Function
int _tmain(int argc, _TCHAR* argv[])
{
OpenNI::initialize();
Device devAnyDevice;
devAnyDevice.open(ANY_DEVICE);
//----------------[Define Video Settings]------------------//Set Properties of Depth Stream
VideoMode mModeDepth;
mModeDepth.setResolution( 640, 480 );
mModeDepth.setFps( 30 );
mModeDepth.setPixelFormat( PIXEL_FORMAT_DEPTH_100_UM );
//Set Properties of Color Stream
VideoMode mModeColor;
mModeColor.setResolution( 640, 480 );
mModeColor.setFps( 30 );
mModeColor.setPixelFormat( PIXEL_FORMAT_RGB888 );
//---------------------------------------------------------if( devAnyDevice.isImageRegistrationModeSupported(IMAGE_REGISTRATION_DEPTH_TO_COLOR ) )
{
devAnyDevice.setImageRegistrationMode( IMAGE_REGISTRATION_DEPTH_TO_COLOR );
}
//----------------------[Initial Streams]--------------------VideoStream streamInitDepth;
streamInitDepth.create( devAnyDevice, SENSOR_DEPTH );
VideoStream streamInitColor;
streamInitColor.create( devAnyDevice, SENSOR_COLOR );
streamInitDepth.setVideoMode( mModeDepth );
streamInitColor.setVideoMode( mModeColor );
namedWindow( "Depth Image (Init)",
namedWindow( "Color Image (Init)",
CV_WINDOW_AUTOSIZE );
VideoFrameRef
VideoFrameRef
frameDepthInit;
frameColorInit;
streamInitDepth.start();
streamInitColor.start();
cv::Mat BackgroundFrame;
int avgDist = 0;
int iMaxDepthInit = streamInitDepth.getMaxPixelValue();
//-----------------------------------------------------------//--------------------[Initiation Process]-------------------while( true )
{
streamInitDepth.readFrame( &frameDepthInit );
streamInitColor.readFrame( &frameColorInit );
const cv::Mat mImageDepth( frameDepthInit.getHeight(), frameDepthInit.getWidth(),
CV_16UC1, (void*)frameDepthInit.getData());
cv::Mat mScaledDepth;
mImageDepth.convertTo( mScaledDepth, CV_8U, 255.0 / iMaxDepthInit );
cv::imshow( "Depth Image (Init)", mScaledDepth );
const cv::Mat mImageRGB(frameColorInit.getHeight(), frameColorInit.getWidth(),
CV_8UC3, (void*)frameColorInit.getData());
cv::Mat cImageBGR;
cv::cvtColor( mImageRGB, cImageBGR, CV_RGB2BGR );
//--------------------[Get Average Distance]--------------------int depthVal = 0;
int frameHeight = frameDepthInit.getHeight();
int frameWidth = frameDepthInit.getWidth();
//--------------------------------------------------------------int initCount = 0;
for(int i = 0; i < frameHeight; i++)
{
for(int j = 0; j < frameWidth; j++)
{
depthVal = mImageDepth.at<unsigned short>(i, j) + depthVal;
initCount++;
}
}
avgDist = depthVal / ((frameHeight) * (frameWidth));
cout << "Average Distance: " << avgDist << endl;
//--------------------------------------------------------------char CurrentXY[8], UpXY[8], DownXY[8];
sprintf(CurrentXY, "%d,%d", CurX, CurY);
sprintf(UpXY, "%d,%d", UpX, UpY);
sprintf(DownXY, "%d,%d", DownX, DownY);
setMouseCallback("Color Image (Init)", CallBackFunc, NULL);
putText(cImageBGR, CurrentXY, cvPoint(frameWidth-100, frameHeight-30),
FONT_HERSHEY_COMPLEX_SMALL, 1, cvScalar(255, 255, 0));
putText(cImageBGR, UpXY, cvPoint(UpX, UpY-20),

putText(cImageBGR, DownXY, cvPoint(DownX, DownY-20),
rectangle(cImageBGR, cvPoint(UpX, UpY), cvPoint(DownX, DownY),
cvScalar(255,255,0), 2);
//--------------------------------------------------------------cv::imshow( "Color Image (Init)", cImageBGR );
if( cv::waitKey(1) == 'q')
{
mImageDepth.copyTo(BackgroundFrame);
break;
}
}
streamInitDepth.destroy();
streamInitColor.destroy();
destroyWindow( "Depth Image (Init)" );
destroyWindow( "Color Image (Init)" );
//-----------------------------------------------------------//-----------------------------------------------------------VideoStream streamCaliDepth;
streamCaliDepth.create( devAnyDevice, SENSOR_DEPTH );
VideoStream streamCaliColor;
streamCaliColor.create( devAnyDevice, SENSOR_COLOR );
streamCaliDepth.setVideoMode( mModeDepth );
streamCaliColor.setVideoMode( mModeColor );
streamCaliDepth.start();
streamCaliColor.start();
//-----------------------------------------------------------//-------------------[Calibration Process]-------------------//Block = 77mm by 21mm
namedWindow( "Depth Image (Init)", CV_WINDOW_AUTOSIZE );
namedWindow( "Color Image (Init)", CV_WINDOW_AUTOSIZE );
namedWindow( "Depth Image (Init-Binary)", CV_WINDOW_AUTOSIZE );
VideoFrameRef
VideoFrameRef
frameDepthCali;
frameColorCali;
streamCaliDepth.start();
streamCaliColor.start();
int centerA[2][1], centerB[2][1], blockDL, blockDW, blockRL, blockRW;
double ratioDL, ratioDW, ratioRL, ratioRW;
vector<Mat> frameRGB;
while( true )
{
streamCaliDepth.readFrame( &frameDepthCali );
streamCaliColor.readFrame( &frameColorCali );
const cv::Mat mImageColor( frameDepthCali.getHeight(), frameDepthCali.getWidth(),
CV_8UC3, (void*)frameColorCali.getData());
const cv::Mat mImageDepth( frameDepthCali.getHeight(), frameDepthCali.getWidth(),
CV_16UC1, (void*)frameDepthCali.getData());
const cv::Mat mImageRGB(frameColorCali.getHeight(), frameColorCali.getWidth(),
CV_8UC3, (void*)frameColorCali.getData());
cv::Mat cImageBGR;
cv::Mat mImageThres( frameDepthCali.getHeight(), frameDepthCali.getWidth(),
CV_8UC1 );
for(int i = UpY; i < DownY; i++)
{
for(int j = UpX; j < DownX; j++)
{
avgDist = BackgroundFrame.at<unsigned short>(i, j);
int depthVal = mImageDepth.at<unsigned short>(i, j);
if((depthVal <= avgDist-10) && (depthVal > 100))
{
mImageThres.data[mImageThres.step[0]*i + mImageThres.step[1]*j] = 0;
}
else
{
mImageThres.data[mImageThres.step[0]*i + mImageThres.step[1]*j] = 255;
}
}
}
//--------------------------------------------------------------char CurrentXYCali[8], UpXYCali[8], DownXYCali[8];
sprintf(CurrentXYCali, "%d,%d", CurXCali, CurYCali);
sprintf(UpXYCali, "%d,%d", UpXCali, UpYCali);
sprintf(DownXYCali, "%d,%d", DownXCali, DownYCali);
setMouseCallback("Color Image (Init)", CallBackFuncCali, NULL);
putText(cImageBGR, CurrentXYCali, cvPoint(540, 450),
putText(cImageBGR, UpXYCali, cvPoint(UpXCali, UpYCali-20),
putText(cImageBGR, DownXYCali, cvPoint(DownXCali, DownYCali-20),
rectangle(cImageBGR, cvPoint(UpXCali, UpYCali), cvPoint(DownXCali, DownYCali),
cvScalar(255,255,0), 1);
//--------------------------------------------------------------//--------------------------------------------------------------cv::imshow( "Depth Image (Init-Binary)", mImageThres );
//--------------------------------------------------------------Calibration( mImageThres, cImageBGR, &centerB[0][0], &centerB[1][0], &blockDL,

&blockDW );
cv::imshow( "Color Image (Init)", cImageBGR );
centerA[0][0] = abs(UpXCali - DownXCali)/2+UpXCali;
centerA[1][0] = abs(UpYCali - DownYCali)/2+UpYCali;
blockRL = abs(UpXCali - DownXCali);
blockRW = abs(UpYCali - DownYCali);
cout << blockDL << ", " << blockDW << "
blockRW << "
";
" << blockRL << ", " <<
if((blockDL > 0) && (blockDW > 0) && (blockRL > 0) && (blockRW > 0))
{
ratioDL = 21/(double)blockDL;
ratioDW = 77/(double)blockDW;
ratioRL = 21/(double)blockRL;
ratioRW = 77/(double)blockRW;
ratioX = ratioRL/ratioDL;
ratioY = ratioRW/ratioDW;
}
cout << ratioDL << ", " << ratioDW << "
" << ratioRL << ", " << ratioRW << endl;

{
break;
}
}
streamCaliDepth.destroy();
streamCaliColor.destroy();
displacementX = centerA[0][0] - centerB[0][0];
displacementY = centerA[1][0] - centerB[1][0];
destroyWindow( "Depth Image (Init-Binary)" );
//-----------------------------------------------------------//-----------------------------------------------------------VideoStream streamDepth;
streamDepth.create( devAnyDevice, SENSOR_DEPTH );
VideoStream streamColor;
streamColor.create( devAnyDevice, SENSOR_COLOR );
streamDepth.setVideoMode( mModeDepth );
streamColor.setVideoMode( mModeColor );
streamDepth.start();
streamColor.start();
namedWindow( "Depth Image",
namedWindow( "Color Image", CV_WINDOW_AUTOSIZE );

namedWindow( "Thresholded Image", CV_WINDOW_AUTOSIZE );
namedWindow( "Mouse Canvas", CV_WINDOW_AUTOSIZE );
int iMaxDepth = streamDepth.getMaxPixelValue();
VideoFrameRef
VideoFrameRef
frameColor;
frameDepth;
OutX.clear();
OutY.clear();
vector<int> OldOutX, OldOutY;
OldOutX.clear();
OldOutY.clear();
//-----------------------------------------------------------// Kalman Filter:
Mat_<float> state(4, 1); /* (x, y, Vx, Vy) */
Mat_<float> measurement(2,1); measurement.setTo(Scalar(0));
char code = (char)-1;
int averageX = 0;
int averageY = 0;
int resetCounter = 0;
KF.statePre.at<float>(0) = averageX;
KF.statePre.at<float>(1) = averageY;
KF.statePre.at<float>(2) = 0;
KF.transitionMatrix = *(Mat_<float>(4, 4) << 1,0,1,0,
0,1,0,1,
0,0,1,0,
0,0,0,1);
setIdentity(KF.measurementMatrix);
setIdentity(KF.processNoiseCov, Scalar::all(1e-4));
setIdentity(KF.measurementNoiseCov, Scalar::all(/*1e-1*/1e-4));
setIdentity(KF.errorCovPost, Scalar::all(.1));
vector<Point> mousev,kalmanv;
mousev.clear();
kalmanv.clear();
Mat canvas(768, 1366, CV_8UC3);
//-----------------------------------------------------------//-----------------------[Main Process]----------------------while( true )
{
streamDepth.readFrame( &frameDepth );
streamColor.readFrame( &frameColor );
const cv::Mat mImageDepth( frameDepth.getHeight(), frameDepth.getWidth(), CV_16UC1,
(void*)frameDepth.getData());
mImageDepth.convertTo( mScaledDepth, CV_8U, 255.0 / iMaxDepth );
//////////////////////////////////////////////////////////////////////////////////
/---------------------[Downsampling]---------------------------------------------double min;
double max;
cv::minMaxIdx(mImageDepth, &min, &max);
cv::Mat adjMap;
float scale = 255 / (max-min);
mImageDepth.convertTo(adjMap,CV_8UC1, scale, -min*scale);
cv::Mat falseColorsMap;
applyColorMap(adjMap, falseColorsMap, cv::COLORMAP_AUTUMN);
cv::imshow("Out", falseColorsMap);
//-------------------------------------------------------------------------------//////////////////////////////////////////////////////////////////////////////////
cv::imshow( "Depth Image", mScaledDepth );
cv::imshow( "Depth Image2", adjMap );
const cv::Mat mImageRGB(frameColor.getHeight(), frameColor.getWidth(), CV_8UC3,
(void*)frameColor.getData());
cv::Mat cImageBGR;
//-------------[Threshold]----------------cv::Mat mImageThres( frameDepth.getHeight(), frameDepth.getWidth(), CV_8UC1 );
int backgroundPxlCount = 0;
{
{
avgDist = BackgroundFrame.at<unsigned short>(i, j);
int
int
int
int
xShift = j;
yShift = i;
frameHeight = frameDepth.getHeight();
frameWidth = frameDepth.getWidth();
if((depthVal > (avgDist-12)) && (depthVal <= (avgDist-6)))

{
if((frameWidth > xShift ) && (xShift >= 0) && (frameHeight > yShift) &&
(yShift >= 0))
mImageThres.data[mImageThres.step[0]*yShift + mImageThres.step[1]*xShift]
= 255;
}
else
{
if((frameWidth > xShift ) && (xShift >= 0) && (frameHeight > yShift) &&
(yShift >= 0))
mImageThres.data[mImageThres.step[0]*yShift + mImageThres.step[1]*xShift]
= 0;
}
backgroundPxlCount++;
}
}
GaussianBlur( mImageThres, mImageThres, Size(3,3), 0, 0 );
fingerDetection( mImageThres, cImageBGR, OldOutX, OldOutY );
cv::imshow("Thresholded Image", mImageThres);
//---------------------------------------if( cv::waitKey(1) == 'q')
{
break;
}
//---------------------------------//---------------------------------//Simulate mouse/touch here:
double windowLength = DownX - UpX;
double windowHeight = DownY - UpY;
if(OutX.size() > 0)
{
resetCounter = 0;
averageX = 0;
averageY = 0;
for( int i = 0; i < OutX.size(); i++ )
{
averageX += OutX[i];
averageY += OutY[i];
}
averageX = windowLength - ((averageX / OutX.size()) - UpX);
averageY = ((averageY / OutY.size()) - UpY);
}
else if(resetCounter > 10)
{
}
else
{
resetCounter++;
}
//-----------------------------------------------Mat prediction = KF.predict();
measurement(0) = averageX;
measurement(1) = averageY;
Point measPt(measurement(0),measurement(1));
mousev.push_back(measPt);
Mat estimated = KF.correct(measurement);
if(estimated.at<float>(0) > windowLength)
{
estimated.at<float>(0) = windowLength;
}
if(estimated.at<float>(1) > windowHeight)
{
estimated.at<float>(1) = windowHeight;
}
kalmanv.push_back(statePt);
for (int i = 0; i < kalmanv.size()-1; i++)

{
line(canvas, kalmanv[i], kalmanv[i+1], Scalar(0,255,0), 1);
}
//-----------------------------------------------//1366
double
shiftX
shiftY
x 768
shiftX, shiftY;
= 1366/windowLength;
= 768/windowHeight;
int ptX = statePt.x *shiftX;

int ptY = statePt.y *shiftY;
int MptX = measPt.x *shiftX;
int MptY = measPt.y *shiftY;
canvas = Scalar::all(0);
line( canvas, Point( ptX Scalar(255,255,255), 2,
line( canvas, Point( ptX +
Scalar(255,255,255), 2,
5, ptY - 5 ), Point( ptX + 5, ptY + 5 ),

CV_AA, 0);
5, ptY - 5 ), Point( ptX - 5, ptY + 5 ),
CV_AA, 0 );
line( canvas, Point( MptX - 5, MptY - 5 ), Point( MptX + 5, MptY + 5 ),

Scalar(0,0,255), 2, CV_AA, 0);
line( canvas, Point( MptX + 5, MptY - 5 ), Point( MptX - 5, MptY + 5 ),
Scalar(0,0,255), 2, CV_AA, 0 );
for (int i = 0; i < mousev.size()-1; i++)
{
line(canvas, Point(mousev[i].x*shiftX, mousev[i].y*shiftY),
Point(mousev[i+1].x*shiftX, mousev[i+1].y*shiftY), Scalar(255,255,0), 1);
}
{
line(canvas, Point(kalmanv[i].x*shiftX, kalmanv[i].y*shiftY),
Point(kalmanv[i+1].x*shiftX, kalmanv[i+1].y*shiftY), Scalar(0,255,0), 1);
}
imshow( "Mouse Canvas", canvas );
if(OutX.size() > 0)
{
MouseMove( statePt.x *shiftX, statePt.y *shiftY );
}
cv::imshow( "Color Image", cImageBGR );
//---------------------------------OldOutX.clear();
OldOutY.clear();
OldOutX = OutX;
OldOutY = OutY;
OutX.clear();
OutY.clear();
}
//-----------------------------------------------------------//-----------------------------------------------------------streamDepth.destroy();
streamColor.destroy();
devAnyDevice.close();
openni::OpenNI::shutdown();
return 0;
}
//---------------------------------------------------------------//---------------------------------------------------------------void fingerDetection(cv::Mat binaryImg, cv::Mat colorImg, vector<int> OldOutX,
vector<int> OldOutY)
{
vector<vector<Point> > contours;
vector<Vec4i> hierarchy;
Mat counterImg = binaryImg.clone();
findContours( counterImg, contours, hierarchy, CV_RETR_TREE, CV_CHAIN_APPROX_SIMPLE,
Point(0, 0) );
// Get the moments
vector<Moments> mu(contours.size() );
for( int i = 0; i < contours.size(); i++ )
{
mu[i] = moments( contours[i], false );
}
// Get the mass centers:
vector<Point2f> mc( contours.size() );
{
mc[i] = Point2f( mu[i].m10/mu[i].m00 , mu[i].m01/mu[i].m00 );
}
//Draw contours. NOW IN COLOR
RNG rng(12345);
double area;
for( int i = 0; i< contours.size(); i++ )
{
int centerx = (mu[i].m10/mu[i].m00);
int centery = (mu[i].m01/mu[i].m00);
area = contourArea(contours[i], false);
Point2f encCenter;
int perimeter = (int)arcLength(contours[i], true);
double circularity = (4 * 3.14 * area)/(perimeter * perimeter);
if((area > 50) && (area < 300) && (circularity > 0.2) && (circularity < 0.8))
{
float furthestReach;
///////////////////////////////////////////////////////
//Draw stuff
Point pt, ptx1, ptx2, pty1, pty2;
centerx = (double)centerx*1.3/*ratioX*/+(double)displacementX;
centery = (double)centery*1.05/*ratioY*/+(double)displacementY;
pt.x = centerx;
pt.y = centery;
ptx1.x = centerx - 10; ptx1.y = centery;
ptx2.x = centerx + 10; ptx2.y = centery;
pty1.x = centerx; pty1.y = centery - 10;
pty2.x = centerx; pty2.y = centery + 10;
Scalar color = Scalar( rng.uniform(0, 255), rng.uniform(0,255),
rng.uniform(0,255) );
Scalar white = (255, 255, 255);
Scalar black = (0, 0, 0);
if( OldOutX.size() > 0)
{
for(int k = 0; k < OldOutX.size(); k++)
{
int distance = sqrt(pow((double)(centerx-OldOutX[k]),2) +
pow((double)(centery-OldOutY[k]),2) );
if(distance < 20)
{
drawContours( colorImg, contours, i, color, 2, 8, hierarchy, 0,
Point() );
line( colorImg, ptx1, ptx2, color, 2 );
line( colorImg, pty1, pty2, color, 2 );
///////////////////////////////////////////////////////
OutX.push_back(centerx);
OutY.push_back(centery);
}
}
}
else
{
}
}
}
}
//---------------------------------------------------------------//---------------------------------------------------------------void Calibration(cv::Mat binaryImg, cv::Mat colorImg, int* centerxOut, int* centeryOut,
int* length, int* width)
{
findContours( counterImg, contours, hierarchy, CV_RETR_TREE, CV_CHAIN_APPROX_SIMPLE,
Point(0, 0) );
// Get the moments
// Get the mass centers:
vector<vector<Point> > contours_poly( contours.size() );
vector<Rect> boundRect(contours.size() );
{
}
for( int i = 0; i < contours_poly.size(); i++ )
{
approxPolyDP( Mat(contours[i]), contours_poly[i], 3, true );
boundRect[i] = boundingRect( Mat(contours_poly[i]) );
}
RNG rng(12345);
double area;
{
if(( boundRect[i].width < 640) && ( boundRect[i].height < 480)
&& ( boundRect[i].width > 1) && ( boundRect[i].height > 1))
{
*length = boundRect[i].width;
*width = boundRect[i].height;
}
Point2f encCenter;
if((area > 500) && (area < 5000))
{
///////////////////////////////////////////////////////
//Draw stuff
*centerxOut = centerx;
*centeryOut = centery;
pt.x = centerx;
pt.y = centery;
drawContours( colorImg, contours, i, color, 2, 8, hierarchy, 0, Point() );
rectangle( colorImg, boundRect[i], color, 2, 8 );
///////////////////////////////////////////////////////
}
}
}
//-------------[Mouse emulation]--------------void MouseMove ( int x, int y )
{
double fScreenWidth
= ::GetSystemMetrics( SM_CXSCREEN )-1;
double fScreenHeight = ::GetSystemMetrics( SM_CYSCREEN )-1;
double fx = x*(65535.0f/fScreenWidth);
double fy = y*(65535.0f/fScreenHeight);
INPUT Input={0};
Input.type
= INPUT_MOUSE;
Input.mi.dwFlags = MOUSEEVENTF_MOVE|MOUSEEVENTF_ABSOLUTE;
Input.mi.dx = fx;
Input.mi.dy = fy;
::SendInput(1,&Input,sizeof(INPUT));
}
void LeftClick ( )
{
INPUT
Input={0};
// left down
Input.type
= INPUT_MOUSE;
Input.mi.dwFlags = MOUSEEVENTF_LEFTDOWN;
// left up
::ZeroMemory(&Input,sizeof(INPUT));
Input.type
= INPUT_MOUSE;
Input.mi.dwFlags = MOUSEEVENTF_LEFTUP;
}
void LeftHold ( )
{
INPUT
Input={0};
// left down
Input.type
= INPUT_MOUSE;
}
void LeftRelease( )
{
// left up
INPUT
Input={0};
Input.type
= INPUT_MOUSE;
}
Appendix D: Source Code Version 2.0 - SVM
// Interactive Human Interfacing Device Software Alan Cheng 2014

// Build 2 Version: Beta
//
// [NOTE] This code has not been cleaned-up, so it may be messy and hard to read
#include
#include
#include
#include
#include
#include
#include
#include
#include
#include
#include
"stdafx.h"
<iostream>
<fstream>
<vector>
<math.h>
"C:/Program Files/OpenNI2/Include/OpenNI.h"
"opencv2/opencv.hpp"
<opencv2/core/core.hpp>
<opencv2/highgui/highgui.hpp>
<opencv2/imgproc/imgproc.hpp>
<Windows.h>
using namespace std;

using namespace openni;
using namespace cv;
#define CVX_RED
#define CVX_GREEN
#define CVX_BLUE
CV_RGB(0xff,0x00,0x00)
CV_RGB(0x00,0xff,0x00)
CV_RGB(0x00,0x00,0xff)
void fingerDetection(cv::Mat binaryImg, cv::Mat colorImg, vector<int> OldOutX,

vector<int> OldOutY);
void Calibration(cv::Mat binaryImg, cv::Mat colorImg, int* centerxOut, int* centeryOut);
void shapeFeatures(cv::Mat binaryImg, cv::Mat colorImg, int classtype);
void sendCoord();
void
void
void
void
MouseMove(int x, int y);

LeftClick();
LeftHold();
LeftRelease();
vector<int> OutX, OutY;

int UpX, UpY, DownX, DownY, CurX, CurY;
CvSVM SVMFinger;
void CallBackFunc(int event, int x, int y, int flags, void* userdata)
{
CurX = x;
CurY = y;
{
UpX = x;
UpY = y;
}
{
DownX = x;
DownY = y;
}
}
int _tmain(int argc, _TCHAR* argv[])
{
FILE *fptrI = fopen("C:\\Users\\Alan\\Documents\\ShapeFeatures.csv","w");
fprintf(fptrI, "Classtype, Area, Perimeter, Circularity, Extent\n");
fclose(fptrI);
Mat input = imread("C:\\Users\\Alan\\Pictures\\Science Fair 2014\\SVM\\Shape
Features\\Fingers.bmp", 1);
Mat input2 = imread("C:\\Users\\Alan\\Pictures\\Science Fair 2014\\SVM\\Shape
Features\\NotFingers.bmp", 1);
Mat inputF = imread("C:\\Users\\Alan\\Pictures\\Science Fair 2014\\SVM\\Shape
Features\\ImageFeaturesBinaryF.bmp", 1);
Mat gray(input.rows, input.cols, CV_8UC3);
Mat gray2(input.rows, input.cols, CV_8UC3);
Mat grayF(input.rows, input.cols, CV_8UC3);
cvtColor(input, gray, CV_BGR2GRAY);
cvtColor(input2, gray2, CV_BGR2GRAY);
cvtColor(inputF, grayF, CV_BGR2GRAY);
shapeFeatures(gray, input, 1);
shapeFeatures(gray2, input2, 2);
namedWindow("Image");
imshow("Image", input);
namedWindow("Image2");
imshow("Image2", input2);
//-----------------------------------------------------//--------[SVM]-------// Read input data from file created above
double parameters[5];
vector<double> svmI, svmA, svmP, svmC, svmE;
int size = 1;
double index = 0; double area = 0; double perimeter = 0; double circularity = 0;
char buffer[1024];
char *record, *lineData;
FILE* fptrR = fopen("C:\\Users\\Alan\\Documents\\ShapeFeatures.csv", "r");
fscanf(fptrR, "%*[^\n]\n", NULL);
svmI.resize(size); svmA.resize(size); svmP.resize(size); svmC.resize(size);
while((lineData=fgets(buffer, sizeof(buffer), fptrR))!=NULL)
{
size++;
svmI.resize(size);
svmA.resize(size);
svmP.resize(size);
svmC.resize(size);
svmE.resize(size);
record = strtok(lineData, ";");
for(int i = 0; i < 5; i++);
{
double value = atoi(record);
record = strtok(lineData,";");
}
char *lineCopy = record;
char *pch;
pch = strtok(lineCopy, ",");
parameters[0] = atoi(pch);
int j = 1;
while( j < 5 )
{
pch = strtok (NULL, ",");
parameters[j] = atof(pch);
j++;
}
svmI[size-1] = parameters[0];
svmA[size-1] = parameters[1];
svmP[size-1] = parameters[2];
svmC[size-1] = parameters[3];
svmE[size-1] = parameters[4];
}
fclose(fptrR);
//--------------------// Set up training data
float labels[1000];
for(int i = 0; i < svmI.size()-1; i++)
{
labels[i] = svmI[i+1];
}
Mat labelsMat(1000, 1, CV_32FC1, labels);
float trainingData[1000][4];
for(int i = 0; i < svmE.size()-1; i++)
{
trainingData[i][0] = svmE[i+1];
trainingData[i][1] = svmC[i+1];
trainingData[i][2] = svmA[i+1];
trainingData[i][3] = svmP[i+1];
}
Mat trainingDataMat(1000, 4, CV_32FC1, trainingData);
// Set up SVM's parameters
CvSVMParams params;
params = SVMFinger.get_params();
// Train the SVM
SVMFinger.train_auto(trainingDataMat, labelsMat, Mat(), Mat(), params);
waitKey();
destroyWindow("Image");
destroyWindow("Image2");
//-----------------------------------------OpenNI::initialize();
Device devAnyDevice;
devAnyDevice.open(ANY_DEVICE);
//----------------[Define Video Settings]------------------//Set Properties of Depth Stream
VideoMode mModeDepth;
mModeDepth.setResolution( 640, 480 );
mModeDepth.setFps( 30 );
mModeDepth.setPixelFormat( PIXEL_FORMAT_DEPTH_100_UM );
//Set Properties of Color Stream

VideoMode mModeColor;
mModeColor.setResolution( 640, 480 );
mModeColor.setFps( 30 );
mModeColor.setPixelFormat( PIXEL_FORMAT_RGB888 );
//----------------------------------------------------------
//----------------------[Initial Streams]--------------------VideoStream streamInitDepth;

streamInitDepth.create( devAnyDevice, SENSOR_DEPTH );
VideoStream streamInitColor;
streamInitColor.create( devAnyDevice, SENSOR_COLOR );
streamInitDepth.setVideoMode( mModeDepth );
streamInitColor.setVideoMode( mModeColor );
namedWindow( "Depth Image (Init)",
namedWindow( "Color Image (Init)",
VideoFrameRef
VideoFrameRef
frameDepthInit;
frameColorInit;
streamInitDepth.start();
streamInitColor.start();
cv::Mat BackgroundFrame;
int avgDist = 0;
int iMaxDepthInit = streamInitDepth.getMaxPixelValue();
//-----------------------------------------------------------//--------------------[Initiation Process]-------------------while( true )
{
streamInitDepth.readFrame( &frameDepthInit );
streamInitColor.readFrame( &frameColorInit );
const cv::Mat mImageDepth( frameDepthInit.getHeight(), frameDepthInit.getWidth(),
CV_16UC1, (void*)frameDepthInit.getData());
const cv::Mat mImageRGB(frameColorInit.getHeight(), frameColorInit.getWidth(),
CV_8UC3, (void*)frameColorInit.getData());
cv::Mat cImageBGR;
//--------------------[Get Average Distance]--------------------int depthVal = 0;
int frameHeight = frameDepthInit.getHeight();
int frameWidth = frameDepthInit.getWidth();
//-----------//---------------------------------------------------------------
int initCount = 0;
for(int i = 0; i < frameHeight; i++)
{
for(int j = 0; j < frameWidth; j++)
{
depthVal = mImageDepth.at<unsigned short>(i, j) + depthVal;
initCount++;
}
}
avgDist = depthVal / ((frameHeight) * (frameWidth));
cout << "Average Distance: " << avgDist << endl;
//--------------------------------------------------------------char CurrentXY[8], UpXY[8], DownXY[8];
sprintf(CurrentXY, "%d,%d", CurX, CurY);
sprintf(UpXY, "%d,%d", UpX, UpY);
sprintf(DownXY, "%d,%d", DownX, DownY);
setMouseCallback("Color Image (Init)", CallBackFunc, NULL);
putText(cImageBGR, CurrentXY, cvPoint(frameWidth-100, frameHeight-30),
putText(cImageBGR, UpXY, cvPoint(UpX, UpY-20),
putText(cImageBGR, DownXY, cvPoint(DownX, DownY-20),
rectangle(cImageBGR, cvPoint(UpX, UpY), cvPoint(DownX, DownY),
cvScalar(255,255,0), 2);
//--------------------------------------------------------------cv::imshow( "Color Image (Init)", cImageBGR );
{
mImageDepth.copyTo(BackgroundFrame);
break;
}
}
streamInitDepth.destroy();
streamInitColor.destroy();
//-----------------------------------------------------------UpY = UpY - 20;
UpX = UpX - 40;
DownY = DownY - 5;
DownX = DownX + 0;
//-----------------------------------------------------------VideoStream streamDepth;
streamDepth.create( devAnyDevice, SENSOR_DEPTH );
VideoStream streamColor;
streamColor.create( devAnyDevice, SENSOR_COLOR );
streamDepth.setVideoMode( mModeDepth );
streamColor.setVideoMode( mModeColor );
streamDepth.start();
streamColor.start();
namedWindow( "Depth Image", CV_WINDOW_AUTOSIZE );
namedWindow( "Color Image", CV_WINDOW_AUTOSIZE );
namedWindow( "Thresholded Image", CV_WINDOW_AUTOSIZE );
namedWindow( "Mouse Canvas", CV_WINDOW_AUTOSIZE );
int iMaxDepth = streamDepth.getMaxPixelValue();
VideoFrameRef
VideoFrameRef
frameColor;
frameDepth;
OutX.clear();
OutY.clear();
vector<int> OldOutX, OldOutY;
OldOutX.clear();
OldOutY.clear();
//-----------------------------------------------------------// Kalman Filter:
Mat_<float> state(4, 1); /* (x, y, Vx, Vy) */
Mat_<float> measurement(2,1); measurement.setTo(Scalar(0));
char code = (char)-1;
int averageX = 0;
int averageY = 0;
int resetCounter = 0;
KF.transitionMatrix = *(Mat_<float>(4, 4) << 1,0,1,0,
0,1,0,1,
vector<Point> mousev,kalmanv;
mousev.clear();
kalmanv.clear();
Mat canvas(768, 1366, CV_8UC3);
bool mouseClick = false;
//-----------------------------------------------------------//-----------------------[Main Process]----------------------while( true )
{
streamDepth.readFrame( &frameDepth );
streamColor.readFrame( &frameColor );
0,0,1,0,
0,0,0,1);
const cv::Mat mImageDepth( frameDepth.getHeight(), frameDepth.getWidth(),

CV_16UC1, (void*)frameDepth.getData());
mImageDepth.convertTo( mScaledDepth, CV_8U, 255.0 / iMaxDepth );
const cv::Mat mImageRGB(frameColor.getHeight(), frameColor.getWidth(), CV_8UC3,
(void*)frameColor.getData());
cv::Mat cImageBGR;
//-------------[Threshold]----------------cv::Mat mImageThres( frameDepth.getHeight(), frameDepth.getWidth(), CV_8UC1 );
int backgroundPxlCount = 0;
{
{
avgDist = BackgroundFrame.at<unsigned short>(i, j)-2;
if((depthVal > (avgDist-15)) && (depthVal <= (avgDist-5)))
{
mImageThres.at<uchar>(i, j) = 255;
}
else
{
mImageThres.at<uchar>(i, j) = 0;
}
backgroundPxlCount++;
}
}
GaussianBlur( mImageThres, mImageThres, Size(3,3), 0, 0 );
fingerDetection( mImageThres, cImageBGR, OldOutX, OldOutY);
cv::imshow("Thresholded Image", mImageThres);
//---------------------------------------sendCoord();
{
break;
}
//---------------------------------//---------------------------------//Simulate mouse/touch here:
double windowLength = DownX - UpX;
double windowHeight = DownY - UpY;
if((OutX.size() > 0) && (resetCounter < 1))
{
resetCounter = 0;
averageX = 0;
averageY = 0;
{
}
averageX
averageY
averageX
averageY
=
=
=
=
windowLength
((averageY /
windowLength
windowHeight
- ((averageX / OutX.size()) - UpX);

OutY.size()) - UpY);
- averageX;
- averageY;
}
else if((resetCounter > 1) && (OutX.size() > 0))
{
resetCounter = 0;
averageX = 0;
averageY = 0;
{
}
averageX = windowLength - ((averageX / OutX.size()) - UpX);
averageY = ((averageY / OutY.size()) - UpY);
averageX = windowLength - averageX;
averageY = windowHeight - averageY;
mousev.clear();
kalmanv.clear();
}
else if(resetCounter > 1)
{
LeftRelease( );
mouseClick = false;
}
else
{
resetCounter++;
}
//-----------------------------------------------Mat prediction = KF.predict();
measurement(0) = averageX;
measurement(1) = averageY;
Point measPt(measurement(0),measurement(1));
mousev.push_back(measPt);
// generate measurement
//measurement += KF.measurementMatrix*state;
Mat estimated = KF.correct(measurement);
if(estimated.at<float>(0) > windowLength)
{
estimated.at<float>(0) = windowLength;
}
if(estimated.at<float>(1) > windowHeight)
{
estimated.at<float>(1) = windowHeight;
}
kalmanv.push_back(statePt);
for (int i = 0; i < kalmanv.size()-1; i++) {
line(canvas, kalmanv[i], kalmanv[i+1], Scalar(0,255,0), 1);
}
//-----------------------------------------------//1366 x 768
double shiftX, shiftY;
shiftX = 1366/windowLength;
shiftY = 768/windowHeight;
int ptX = statePt.x *shiftX;
int ptY = statePt.y *shiftY;
int MptX = measPt.x *shiftX;
int MptY = measPt.y *shiftY;
canvas = Scalar::all(0);
line( canvas, Point( ptX - 5, ptY - 5 ), Point( ptX + 5, ptY + 5 ),
Scalar(255,255,255), 2, CV_AA, 0);
line( canvas, Point( ptX + 5, ptY - 5 ), Point( ptX - 5, ptY + 5 ),
Scalar(255,255,255), 2, CV_AA, 0 );
line( canvas, Point( MptX - 5, MptY - 5 ), Point( MptX + 5, MptY + 5 ),
Scalar(0,0,255), 2, CV_AA, 0);
line( canvas, Point( MptX + 5, MptY - 5 ), Point( MptX - 5, MptY + 5 ),
Scalar(0,0,255), 2, CV_AA, 0 );
for (int i = 0; i < mousev.size()-1; i++)
{
line(canvas, Point(mousev[i].x*shiftX, mousev[i].y*shiftY),
Point(mousev[i+1].x*shiftX, mousev[i+1].y*shiftY), Scalar(255,255,0),
1);
}
{
line(canvas, Point(kalmanv[i].x*shiftX, kalmanv[i].y*shiftY),
Point(kalmanv[i+1].x*shiftX, kalmanv[i+1].y*shiftY), Scalar(0,255,0),
1);
}
imshow( "Mouse Canvas", canvas );
if(OutX.size() > 0)
{
MouseMove( (/*1366 - */(statePt.x *shiftX)), (/*768 - */(statePt.y

*shiftY)) );
if(mouseClick == false)
{
LeftHold( );
mouseClick = true;
}
}
cv::imshow( "Color Image", cImageBGR );
//---------------------------------OldOutX.clear();
OldOutY.clear();
OldOutX = OutX;
OldOutY = OutY;
OutX.clear();
OutY.clear();
}
//-----------------------------------------------------------//-----------------------------------------------------------streamDepth.destroy();
streamColor.destroy();
devAnyDevice.close();
openni::OpenNI::shutdown();
return 0;
}
//---------------------------------------------------------------//---------------------------------------------------------------void fingerDetection(cv::Mat binaryImg, cv::Mat colorImg, vector<int> OldOutX,
vector<int> OldOutY)
{
findContours( counterImg, contours, hierarchy, CV_RETR_TREE,
CV_CHAIN_APPROX_SIMPLE, Point(0, 0) );
/// Get the moments
for( int i = 0; i < contours.size (); i++ )
{
}
/// Get the mass centers:
{
}
RNG rng(12345);
double area;
{
Point2f encCenter;
CvBox2D box;
box = minAreaRect(contours[i]);
double extent = (area/(box.size.height*box.size.width));
//if((area > 15) && (area < 200) && (circularity > 0.1) && (circularity <
0.9))
Mat sampleMat = (Mat_<float>(1,4) << extent, circularity, area, perimeter);
float response = SVMFinger.predict(sampleMat);
if((response == 1) && (area > 30) && (area < 400))
{
///////////////////////////////////////////////////////
//Draw stuff
centerx = (double)centerx*0.97+3/*+10*/;
centery = (double)centery*1.02+20/*+10*/;
pt.x = centerx;
pt.y = centery;
Scalar white = (255, 255, 255);
Scalar black = (0, 0, 0);
if( OldOutX.size() > 0)
{
for(int k = 0; k < OldOutX.size(); k++)
{
int distance = sqrt(pow((double)(centerx-OldOutX[k]),2)
+ pow((double)(centery-OldOutY[k]),2) );
if(distance < 20)
{
drawContours( colorImg, contours, i, color, 2, 8,
hierarchy, 0, Point() );
///////////////////////////////////////////////////////
}
}
}
else
{
}
}
}
}
void sendCoord()
{
for(int i = 0; i < OutX.size(); i++)
{
int centerX = OutX[i];
int centerY = OutY[i];
}
}
//-------------[Mouse emulation]--------------void MouseMove ( int x, int y )
{
double fScreenWidth
= ::GetSystemMetrics( SM_CXSCREEN )-1;
double fScreenHeight = ::GetSystemMetrics( SM_CYSCREEN )-1;
double fx = x*(65535.0f/fScreenWidth);
double fy = y*(65535.0f/fScreenHeight);
INPUT Input={0};
Input.type
= INPUT_MOUSE;
Input.mi.dwFlags = MOUSEEVENTF_MOVE|MOUSEEVENTF_ABSOLUTE;
Input.mi.dx = fx;
Input.mi.dy = fy;
}
void LeftClick ( )
{
INPUT
Input={0};
// left down
Input.type
= INPUT_MOUSE;
// left up
::ZeroMemory(&Input,sizeof(INPUT));
Input.type
= INPUT_MOUSE;
}
void LeftHold( )
{
INPUT
Input={0};
// left down
Input.type
= INPUT_MOUSE;
}
void LeftRelease( )
{
// left up
INPUT
Input={0};
Input.type
= INPUT_MOUSE;
}
void shapeFeatures(cv::Mat binaryImg, cv::Mat colorImg, int classtype)
{
FILE *fptr = fopen("C:\\Users\\Alan\\Documents\\ShapeFeatures.csv","a");
findContours( counterImg, contours, hierarchy, CV_RETR_TREE,
CV_CHAIN_APPROX_SIMPLE, Point(0, 0) );
/// Get the moments
{
}
/// Get the mass centers:
{
}
RNG rng(12345);
double area;

{
Point2f encCenter;
CvBox2D box;
box = minAreaRect(contours[i]);
double extent = (area/(box.size.height*box.size.width));
///////////////////////////////////////////////////////
//Draw stuff
drawContours( colorImg, contours, i, Scalar(0, 0, 255), 2, 8, hierarchy, 0,
Point() );
///////////////////////////////////////////////////////
fprintf(fptr, "%d,%f,%d,%f,%f\n", classtype, area, perimeter, circularity,
extent);
}
fclose(fptr);
}

A Novel Human Machine Interface Using 3D Vision and Kalman Filter Optimization

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5.2.1 Microsoft Kinect ........................................................................................................... 24

Trial 5: ................................................................................................................................. 197

640480 pixels @ 30 Hz (RGB camera)

Figure 3.1: The Microsoft Kinect for Xbox360 (source:

Figure 3.2: Inside look at the Kinect (source: http://qph.is.quoracdn.net/main-qimg17601437f077288f37a5d99eaea53726?convert_to_webp=true)

Figure 3.3: Kinect 2.0 for the Xbox One

Figure 3.4: Distortion of multiple different vertical stripe patterns (source:

3.2 Computer Vision and Image Processing

Figure 3.6: OpenCV logo (source:

Figure 3.7: The HSV color cone (source:

Figure 3.9: Contour function output on a binary thresholded image (source:

Figure 3.13: The circularity of the triangle is the black circle.

3.3 Kalman Filter

Figure 3.15: General equations of the Kalman Filter (source:

Prediction theoretical model of river level

Figure 3.17: Sample graph of the river problem.

Figure 3.18: Equations of the model for a Kalman Filter*

Business: Large projection to help collaboration grow in company to foster creative

10+ frames per second

4.3 Research Question

Types of algorithms used

Variables to be controlled throughout the whole project:

5. Design Process of Implementation

Figure 5.1: Different drafts of an interactive HMI device prototype

5.2 Current design model The First Prototype

5.2.2 3M Roku Streaming Projector

Figure 5.3: 3M Roku streaming projector (source: http://g-ec2.imagesamazon.com/images/G/01/aplus/detail-page/B008X1BV2Y_image2.jpg)

5.2.3 OpenCV, OpenNI2 and Visual Studios

Main processing unit

Runs finger detection algorithm

Figure 5.5: Overall connection of current model

Noise filtering not perfect

Figure 6.1: General outline of software algorithm and methodology

Figure 6.2: Initialization Step

Figure 6.3: Environment causing different pixel-length ratios

6.4 Finger Detection

Thresholded binary image

Receive binary image

Gaussian blur on image

Has all blobs

Calculate centroid using

6.5 Implementation of Kalman Filter into Current Application

Figure 3.12: Transition matrix (A)

KFs.transitionMatrix = *(Mat_<float>(4, 4) << 1,0,1,0,

General Coding to Predict (Step 1)

General Coding to Input Measurement*

General Coding to Correct (Step 2)

Figure 6.7: Example coding for the Kalman Filter

Figure 7.1: Setup for experimentation of interactive HMI device

7.1 Accuracy Testing

Distance of Point from Center (pixels)

Distance from Center (pixels)

Average Distance of Touch from Center

Average Distance of Touch from Center per Trial

Distribution of Distance from Center

7.2 Effects of Use of Kalman Filter

8 shapes were used in total

7.2.1 Method for Testing

Figure 7.6: RMS roughness equation used

Mean (pixel disparity)

Maximum (pixel disparity)

RMS* (pixel disparity)

Statistical Comparison for Vertical Tracing