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This shows you the differences between two versions of the page.

--- postuloca:tomographic [2013-07-19 08:28] – pot
+++ postuloca:tomographic [2013-07-24 14:07] (current) – [Scenario Runner] pot
@@ Line 6: / Line 6: @@
 ^ Scenario ^ Parameters ^ Anchor positions ^ VRTI error dist. Noise/No-Noise . ^ KALMAN error dist. Noise/No-Noise ^ Metrics VRTI / KALMAN ^ Notes and video ^
-^ C 40     | //area//: 6.4 X 4.5 [m]\\ //anchors//: 25\\ //speed//: 0.5[step/s]\\ //channels//: 1\\ //origin//: WnLab | {{:postuloca:c40_anchors.jpg?200}} | {{:postuloca:c40_error_mdf.jpg?200}} | {{:postuloca:c40_error_kalman_mdf.jpg?200}} | RMSE: 1.60 [m] / 1.59 [m]\\ 75<sup>th</sup> pc: 1.95 [m]  / 1.93 [m] \\ 90<sup>th</sup> pc: 2.67 [m] / 2.62 [m] | Error with noise model in [0.5, 1.75] m.\\ Error without Noise model in [0.4, 2] m.\\ No improvement from tracking.\\ {{:postuloca:pat2_28sen_1p_1sec.avi|video}} |
+^ C 40     | //area//: 6.4 X 4.5 [m]\\ //anchors//: 25\\ //speed//: 0.5[step/s]\\ //channels//: 1\\ //origin//: WnLab | {{c40_anchors.jpg?200}} | {{c40_error_mdf.jpg?200}} | {{c40_error_kalman_mdf.jpg?200}} | RMSE: 1.60 [m] / 1.59 [m]\\ 75<sup>th</sup> pc: 1.95 [m]  / 1.93 [m] \\ 90<sup>th</sup> pc: 2.67 [m] / 2.62 [m] | Error with noise model in [0.5, 1.75] m.\\ Error without Noise model in [0.4, 2] m.\\ No improvement from tracking.\\ {{pat2_28sen_1p_1sec.avi|video}} |
-^:::|:::|:::|{{:postuloca:c40_error_mdf_f1.jpg?200}}|{{:postuloca:c40_error_kalman_mdf_f1.jpg?200}}|RMSE: 2.55 [m] / 2.55 [m]\\ 75<sup>th</sup> pc: 3.28 [m]  / 3.27 [m] \\ 90<sup>th</sup> pc: 3.78 [m] / 3.77 [m]|:::|
+^:::|:::|:::|{{c40_error_mdf_f1.jpg?200}}|{{c40_error_kalman_mdf_f1.jpg?200}}|RMSE: 2.55 [m] / 2.55 [m]\\ 75<sup>th</sup> pc: 3.28 [m]  / 3.27 [m] \\ 90<sup>th</sup> pc: 3.78 [m] / 3.77 [m]|:::|
 ==== Scenario Pat_1 ====
@@ Line 14: / Line 14: @@
 ^ Scenario ^ Parameters ^ Anchor positions ^ VRTI error dist. Noise/No-Noise . ^ KALMAN error dist. Noise/No-Noise ^ Metrics VRTI / KALMAN ^ Notes and video ^
-^ Pat_1     | //area//: 8.4 X 6.5 [m]\\ //anchors//: 33\\ //speed//: 1[step/s]\\ //channels//: 5\\ //origin//: SPAN Lab. | {{:postuloca:pat_1_anchors.jpg?200}} | {{:postuloca:pat_1_error_mdf.jpg?200}} | {{:postuloca:pat_1_error_kalman_mdf.jpg?200}} | RMSE: 0.62 [m] / 0.62 [m]\\ 75<sup>th</sup> pc: 0.68 [m]  / 0.67 [m] \\ 90<sup>th</sup> pc: 1.04 [m] / 1.02 [m] | Error with noise model in [0.2, 0.6] m. \\ Error without noise model in [1.1, 1.5] m. \\ No improvement from tracking.\\ {{:postuloca:pat2_28sen_1p_1sec.avi|video}} |
+^ Pat_1     | //area//: 8.4 X 6.5 [m]\\ //anchors//: 33\\ //speed//: 1[step/s]\\ //channels//: 5\\ //origin//: SPAN Lab. | {{pat_1_anchors.jpg?200}} | {{pat_1_error_mdf.jpg?200}} | {{pat_1_error_kalman_mdf.jpg?200}} | RMSE: 0.62 [m] / 0.62 [m]\\ 75<sup>th</sup> pc: 0.68 [m]  / 0.67 [m] \\ 90<sup>th</sup> pc: 1.04 [m] / 1.02 [m] | Error with noise model in [0.2, 0.6] m. \\ Error without noise model in [1.1, 1.5] m. \\ No improvement from tracking.\\ {{pat2_28sen_1p_1sec.avi|video}} |
-^:::|:::|:::|{{:postuloca:pat_1_error_mdf_f1.jpg?200|}}|{{:postuloca:pat_1_error_kalman_mdf_f1.jpg?200|}}|RMSE: 1.64 [m] / 1.62 [m]\\ 75<sup>th</sup> pc: 1.81 [m]  / 1.80 [m] \\ 90<sup>th</sup> pc: 2.23 [m] / 2.23 [m]|:::|
+^:::|:::|:::|{{pat_1_error_mdf_f1.jpg?200|}}|{{pat_1_error_kalman_mdf_f1.jpg?200|}}|RMSE: 1.64 [m] / 1.62 [m]\\ 75<sup>th</sup> pc: 1.81 [m]  / 1.80 [m] \\ 90<sup>th</sup> pc: 2.23 [m] / 2.23 [m]|:::|
 ==== Scenario Pat_2 ====
@@ Line 22: / Line 22: @@
 ^ Scenario ^ Parameters ^ Anchor positions ^ Raw error dist. ^ Tracking error dist. ^ Metrics raw / trk ^ Notes and video ^
-^ Pat_2 | //area//: 6.5x4.5[m]\\ //anchors//: 28\\ //speed//: 1[step/s]\\ //channels//: 1\\ //origin//: SPAN Lab. | {{:postuloca:pat_2_anchors.jpg?150}} | {{:postuloca:pat_2_error_mdf.jpg?150}} | {{:postuloca:pat_2_error_kalman_mdf.jpg?150}} | RMSE: 1.26 [m]/ 1.26[m]\\ 75<sup>th</sup> pc: 1.55 [m]/ 1.55 [m]\\ 90<sup>th</sup> pc: 2.0 [m] / 1.97 [m] | Error with noise model in [0.35, 1.7]m. \\ Error without Noise model in [0.7, 1.7] m. \\ No improvement from tracking.\\ {{:postuloca:pat2_28sen_1p_1sec.avi|video}} |
+^ Pat_2 | //area//: 6.5x4.5[m]\\ //anchors//: 28\\ //speed//: 1[step/s]\\ //channels//: 1\\ //origin//: SPAN Lab. | {{pat_2_anchors.jpg?150}} | {{pat_2_error_mdf.jpg?150}} | {{pat_2_error_kalman_mdf.jpg?150}} | RMSE: 1.26 [m]/ 1.26[m]\\ 75<sup>th</sup> pc: 1.55 [m]/ 1.55 [m]\\ 90<sup>th</sup> pc: 2.0 [m] / 1.97 [m] | Error with noise model in [0.35, 1.7]m. \\ Error without Noise model in [0.7, 1.7] m. \\ No improvement from tracking.\\ {{pat2_28sen_1p_1sec.avi|video}} |
-^:::|:::|:::|{{:postuloca:pat_2_error_mdf_f1.jpg?200}}|{{:postuloca:pat_2_error_kalman_mdf_f1.jpg?200}}|RMSE: 1.67 [m] / 1.66 [m]\\ 75<sup>th</sup> pc: 1.85 [m]  / 1.83 [m] \\ 90<sup>th</sup> pc: 2.53[m] / 2.53 [m]|:::|
+^:::|:::|:::|{{pat_2_error_mdf_f1.jpg?200}}|{{pat_2_error_kalman_mdf_f1.jpg?200}}|RMSE: 1.67 [m] / 1.66 [m]\\ 75<sup>th</sup> pc: 1.85 [m]  / 1.83 [m] \\ 90<sup>th</sup> pc: 2.53[m] / 2.53 [m]|:::|
 ==== Scenario Runner ====
@@ Line 30: / Line 30: @@
 ^ Scenario ^ Parameters ^ Anchor positions ^ Raw error dist. ^ Tracking error dist. ^ Metrics raw / trk ^ Notes and video ^
-^ Runner | //area//: 6.5x4.5[m]\\ //anchors//: 28\\ //speed//: 0.5[step/s]\\ //channels//: 1\\ //origin//: SPAN Lab. | {{:postuloca:pat_2_anchors.jpg?150}} | {{:postuloca:runner.png?200|}} | {{:postuloca:runner_k.png?200|}}| RMSE: 3.056 [m]/ 3.051 [m]\\ 75<sup>th</sup> pc: 4.24 [m]/ 4.23 [m]\\ 90<sup>th</sup> pc: 5.60 [m] / 5.59 [m] | Error with noise model in [0.4, 1.8]m. \\ Error without Noise model in [1.2, 2] m. \\ No improvement from tracking.\\ {{:postuloca:runner.avi|video}} |
+^ Runner | //area//: 6.5x4.5[m]\\ //anchors//: 28\\ //speed//: 0.5[step/s]\\ //channels//: 1\\ //origin//: SPAN Lab. | {{pat_2_anchors.jpg?150}} | {{runner.png?200|}} | {{runner_k.png?200|}}| RMSE: 3.056 [m]/ 3.051 [m]\\ 75<sup>th</sup> pc: 4.24 [m]/ 4.23 [m]\\ 90<sup>th</sup> pc: 5.60 [m] / 5.59 [m] | Error with noise model in [0.4, 1.8]m. \\ Error without Noise model in [1.2, 2] m. \\ No improvement from tracking.\\ {{runner.avi|video}} |
-^:::|:::|:::|{{:postuloca:runner_phi_1.png?200|}}|{{:postuloca:runner_phi_1_k.png?200|}}|RMSE: 3.52 [m] / 3.51 [m]\\ 75<sup>th</sup> pc: 5.07 [m]  / 5.09 [m] \\ 90<sup>th</sup> pc: 5.78[m] / 5.78 [m]|:::|
+^:::|:::|:::|{{runner_phi_1.png?200|}}|{{runner_phi_1_k.png?200|}}|RMSE: 3.52 [m] / 3.51 [m]\\ 75<sup>th</sup> pc: 5.07 [m]  / 5.09 [m] \\ 90<sup>th</sup> pc: 5.78[m] / 5.78 [m]|:::|
-In the following tables, the VRTI dist. Error is the locallization error misured by the only Maximum Variance Image estimation. The metrics parameters are evaluated in both two cases in presence and not of an AP WiFi. Precisely, in the column "Metrics" the first value refears to the measure with AP and the second one without AP.The same formatting is used for the column of videos. Note that in our measure the channels 17 and 24 were the "high quality channels", instead the channels 14 and 21 were "low quality channels".
+In [[1306_by_movement]], the VRTI dist. Error is the localization error evaluated using the Maximum Variance Image estimation. The metrics are evaluated with (first value) and without (second value) a WiFi AP.  The same holds for the videos. Channels 17 and 24 were only slightly disturbed, while 14 and 21 were significantly disturbed by the WiFi AP.
-==== Scenario c14_s20 ====
-^ Scenario ^ Parameters ^ Anchor positions ^ AP Int. ^ No AP Int.^ Metrics ^ Notes and video ^
-^ oblique path | //area//: 3.6x4.8[m]\\ //anchors//: 20\\ //speed//: 1[step/s]\\ //channels//: 14\\ //origin//: WN Lab. | {{:postuloca:c40_s20.png?200|}} |{{:postuloca:err_dist_c14_s20_diag.png?200|}} | {{:postuloca:err_dist_c14_s20_diag_noap.png?200|}}| RMSE: 0.69 [m]/ 0.69 [m]\\ 75<sup>th</sup> pc: 0.85 [m]/ 0.89 [m]\\ 90<sup>th</sup> pc: 1 [m] / 2.1[m] |{{:postuloca:misure_c14_s20_diag.avi|}} {{:postuloca:misure_c14_s20_diag_noap.avi|}} |
-^position 1|speed 0[step/s]|:::|{{:wnlab:err_dist_c14_s20_p1.png?200}}|{{:wnlab:err_dist_c14_s20_p1_noap.png?200}}|RMSE: 1.85 [m]/ 1.6 [m]\\ 75<sup>th</sup> pc: 2.34 [m]/ 2 [m]\\ 90<sup>th</sup> pc: 2.5 [m] / 0.94 [m] |{{:wnlab:misure_c14_s20_p1.avi}} {{:wnlab:misure_c14_s20_p1_noap.avi}}|
-^position 2|speed 0[step/s]|:::|{{:wnlab:err_dist_c14_s20_p2.png?200}}|{{:wnlab:err_dist_c14_s20_p2_noap.png?200}}|RMSE: 1.28 [m]/ 2 [m]\\ 75<sup>th</sup> pc: 1.44[m]/ 3.28 [m]\\ 90<sup>th</sup> pc: 2.15 [m] / 3.44 [m] |{{:wnlab:misure_c14_s20_p2.avi}} {{:wnlab:misure_c14_s20_p2_noap.avi}}|
-^position 3|speed 0[step/s]|:::|{{:wnlab:err_dist_c14_s20_p3.png?200}}|{{:wnlab:err_dist_c14_s20_p3_noap.png?200}}|RMSE: 2.11 [m]/ 1.48 [m]\\ 75<sup>th</sup> pc: 2.72 [m]/ 2.7[m]\\ 90<sup>th</sup> pc: 2.79 [m] / 2.8 [m] |{{:wnlab:misure_c14_s20_p3.avi}} {{:wnlab:misure_c14_s20_p3_noap.avi}}|
-^position 4|speed 0[step/s]|:::|{{:wnlab:err_dist_c14_s20_p4.png?200}}|{{:wnlab:err_dist_c14_s20_p4_noap.png?200}}|RMSE: 2.8 [m]/ 3.7 [m]\\ 75<sup>th</sup> pc: 4.12 [m]/ 3.9 [m]\\ 90<sup>th</sup> pc: 4.12 [m] / 4 [m] |{{:wnlab:misure_c14_s20_p4.avi}} {{:wnlab:misure_c14_s20_p4_noap.avi}}|
-^position 5|speed 0[step/s]|:::|{{:wnlab:err_dist_c14_s20_p5.png?200}}|{{:wnlab:err_dist_c14_s20_p5_noap.png?200}}|RMSE: 3 [m]/ 2.8 [m]\\ 75<sup>th</sup> pc: 3.5 [m]/ 3.4 [m]\\ 90<sup>th</sup> pc: 3.8 [m] / 3.5 [m] |{{:wnlab:misure_c14_s20_p5.avi}} {{:wnlab:misure_c14_s20_p5_noap.avi}}|
-^coil path|speed 1/3[step/s]|:::| |{{:wnlab:err_dist_c14_s20_savazzi_noap.png?200}}|RMSE:  [m]/ 1.6 [m]\\ 75<sup>th</sup> pc:  [m]/ 1.8 [m]\\ 90<sup>th</sup> pc:  [m] / 2.2 [m] | {{:wnlab:misure_c14_s20_savazzi_noap.avi}}|
-==== Scenario c17_s20 ====
-^ Scenario ^ Parameters ^ Anchor positions ^ AP Int. ^ No AP Int.^ Metrics ^ Notes and video ^
-^ oblique path | //area//: 3.6x4.8[m]\\ //anchors//: 20\\ //speed//: 1[step/s]\\ //channels//: 17\\ //origin//: WN Lab. | {{:postuloca:c40_s20.png?200}}| {{:postuloca:err_dist_c17_s20_diag.png?200}}|{{:postuloca:err_dist_c17_s20_diag_noap.png?200}} | RMSE: 0.74 [m]/ 0.92[m]\\ 75<sup>th</sup> pc: 0.87 [m]/ 1 [m]\\ 90<sup>th</sup> pc: 1 [m] / 1.17 [m] |{{:postuloca:misure_c17_s20_diag.avi}} {{:postuloca:misure_c17_s20_diag_noap.avi}} |
-^position 1|speed 0[step/s]|:::|{{:wnlab:err_dist_c17_s20_p1.png?200}}|{{:wnlab:err_dist_c17_s20_p1_noap.png?200}}|RMSE: 1.8 [m]/ 1.9[m]\\ 75<sup>th</sup> pc: 2 [m]/ 2.1 [m]\\ 90<sup>th</sup> pc: 2.2 [m] / 2.3 [m] |{{:wnlab:misure_c17_s20_p1.avi}} {{:wnlab:misure_c17_s20_p1_noap.avi}}|
-^position 2|speed 0[step/s]|:::|{{:wnlab:err_dist_c17_s20_p2.png?200}}|{{:wnlab:err_dist_c17_s20_p2_noap.png?200}}|RMSE: 1.7 [m]/ 1.2 [m]\\ 75<sup>th</sup> pc: 2 [m]/ 1 [m]\\ 90<sup>th</sup> pc: 2 [m] / 2 [m] |{{:wnlab:misure_c17_s20_p2.avi}} {{:wnlab:misure_c17_s20_p2_noap.avi}}|
-^position 3|speed 0[step/s]|:::|{{:wnlab:err_dist_c17_s20_p3.png?200}}|{{:wnlab:err_dist_c17_s20_p3_noap.png?200}}|RMSE: 2.1 [m]/ 2.8[m]\\ 75<sup>th</sup> pc: 2.5 [m]/ 2.5 [m]\\ 90<sup>th</sup> pc: 2.6 [m] / 4.2 [m] |{{:wnlab:misure_c17_s20_p3.avi}} {{:wnlab:misure_c17_s20_p3_noap.avi}}|
-^position 4|speed 0[step/s]|:::|{{:wnlab:err_dist_c17_s20_p4.png?200}}|{{:wnlab:err_dist_c17_s20_p4_noap.png?200}}|RMSE: 1.8 [m]/ 3.2 [m]\\ 75<sup>th</sup> pc: 2.3 [m]/ 3.6 [m]\\ 90<sup>th</sup> pc: 2.7 [m] / 4 [m] |{{:wnlab:misure_c17_s20_p4.avi}} {{:wnlab:misure_c17_s20_p4_noap.avi}}|
-^position 5|speed 0[step/s]|:::|{{:wnlab:err_dist_c17_s20_p5.png?200}}|{{:wnlab:err_dist_c17_s20_p5_noap.png?200}}|RMSE: 2.1 [m]/ 3.5 [m]\\ 75<sup>th</sup> pc: 2.5 [m]/ 3.8 [m]\\ 90<sup>th</sup> pc: 2.9 [m] / 3.9 [m] |{{:wnlab:misure_c17_s20_p5.avi}} {{:wnlab:misure_c17_s20_p5_noap.avi}}|
-^coil path|speed 1/3[step/s]|:::|{{:wnlab:err_dist_c17_s20_savazzi.png?200}}|{{:wnlab:err_dist_c17_s20_savazzi_noap.png?200}}|RMSE:  1.2[m]/ 1.6 [m]\\ 75<sup>th</sup> pc:  1.1[m]/ 1.4 [m]\\ 90<sup>th</sup> pc: 1.9 [m] / 2.6 [m] |{{:wnlab:misure_c17_s20_savazzi.avi}} {{:wnlab:misure_c17_s20_savazzi_noap.avi}}|
-==== Scenario c21_s20 ====
-^ Scenario ^ Parameters ^ Anchor positions ^ AP Int. ^ No AP Int.^ Metrics ^ Notes and video ^
-^ oblique path | //area//: 3.6x4.8[m]\\ //anchors//: 20\\ //speed//: 1[step/s]\\ //channels//: 21\\ //origin//: WN Lab. | {{:postuloca:c40_s20.png?200}}|{{:postuloca:err_dist_c21_s20_diag.png?200}}|{{:postuloca:err_dist_c21_s20_diag_noap.png?200}} | RMSE: 1.3 [m]/ 0.53 [m]\\ 75<sup>th</sup> pc: 1.53 [m]/ 0.61 [m]\\ 90<sup>th</sup> pc: 1.67 [m] / 0.67 [m] | {{:postuloca:misure_c21_s20_diag.avi}} {{:postuloca:misure_c21_s20_diag_noap.avi}}|
-^position 1|speed 0[step/s]|:::|{{:wnlab:err_dist_c21_s20_p1.png?200}}|{{:wnlab:err_dist_c21_s20_p1_noap.png?200}}|RMSE: 2.1 [m]/ 2 [m]\\ 75<sup>th</sup> pc: 2.3 [m]/ 2.4 [m]\\ 90<sup>th</sup> pc: 2.4 [m] / 2.6 [m] |{{:wnlab:misure_c21_s20_p1.avi}} {{:wnlab:misure_c21_s20_p1_noap.avi}}|
-^position 2|speed 0[step/s]|:::|{{:wnlab:err_dist_c21_s20_p2.png?200}}|{{:wnlab:err_dist_c21_s20_p2_noap.png?200}}|RMSE: 0.82 [m]/ 1.4[m]\\ 75<sup>th</sup> pc: 1 [m]/ 1.4 [m]\\ 90<sup>th</sup> pc: 1 [m] / 1.6 [m] |{{:wnlab:misure_c21_s20_p2.avi}} {{:wnlab:misure_c21_s20_p2_noap.avi}}|
-^position 3|speed 0[step/s]|:::|{{:wnlab:err_dist_c21_s20_p3.png?200}}|{{:wnlab:err_dist_c21_s20_p3_noap.png?200}}|RMSE: 0.51 [m]/ 1.6 [m]\\ 75<sup>th</sup> pc: 0.57 [m]/ 1.7 [m]\\ 90<sup>th</sup> pc: 0.73 [m] / 1.8 [m] |{{:wnlab:misure_c21_s20_p3.avi}} {{:wnlab:misure_c21_s20_p3_noap.avi}}|
-^position 4|speed 0[step/s]|:::|{{:wnlab:err_dist_c21_s20_p4.png?200}}|{{:wnlab:err_dist_c21_s20_p4_noap.png?200}}|RMSE: 3.5 [m]/ 3.3 [m]\\ 75<sup>th</sup> pc: 4 [m]/ 3.6 [m]\\ 90<sup>th</sup> pc: 4.1 [m] / 4.2 [m] |{{:wnlab:misure_c21_s20_p4.avi}} {{:wnlab:misure_c21_s20_p4_noap.avi}}|
-^position 5|speed 0[step/s]|:::|{{:wnlab:err_dist_c21_s20_p5.png?200}}|{{:wnlab:err_dist_c21_s20_p5_noap.png?200}}|RMSE: 2.6 [m]/ 1.39 [m]\\ 75<sup>th</sup> pc: 4.1 [m]/ 1.2 [m]\\ 90<sup>th</sup> pc: 4.6 [m] / 1.4 [m] |{{:wnlab:misure_c21_s20_p5.avi}} {{:wnlab:misure_c21_s20_p5_noap.avi}}|
-^coil path|speed 1/3[step/s]|:::|{{:wnlab:err_dist_c21_s20_savazzi.png?200}}|{{:wnlab:err_dist_c21_s20_savazzi_noap.png?200}}|RMSE:  1.5[m]/ 1.1 [m]\\ 75<sup>th</sup> pc:  1.1[m]/ 1.3 [m]\\ 90<sup>th</sup> pc: 3.5 [m] / 1.5 [m] |{{:wnlab:misure_c21_s20_savazzi.avi}} {{:wnlab:misure_c21_s20_savazzi_noap.avi}}|
-==== Scenario c24_s20 ====
-^ Scenario ^ Parameters ^ Anchor positions ^ AP Int. ^ No AP Int.^ Metrics ^ Notes and video ^
-^ oblique path | //area//: 3.6x4.8[m]\\ //anchors//: 20\\ //speed//: 1[step/s]\\ //channels//: 24\\ //origin//: WN Lab. | {{:postuloca:c40_s20.png?200}} |{{:postuloca:err_dist_c24_s20_diag.png?200}}|{{:postuloca:err_dist_c24_s20_diag_noap.png?200}}| RMSE: 1.22 [m]/ 0.65 [m]\\ 75<sup>th</sup> pc: 1.34 [m]/ 0.85 [m]\\ 90<sup>th</sup> pc: 1.62 [m] / 0.98 [m] |{{:postuloca:misure_c24_s20_diag_noap.avi}} |
-^position 1|speed 0[step/s]|:::|{{:wnlab:err_dist_c24_s20_p1.png?200}}|{{:wnlab:err_dist_c24_s20_p1_noap.png?200}}|RMSE: 1.9 [m]/ 1.5 [m]\\ 75<sup>th</sup> pc: 2.2 [m]/ 1.6 [m]\\ 90<sup>th</sup> pc: 2.3 [m] / 1.9 [m] |{{:wnlab:misure_c24_s20_p1.avi}} {{:wnlab:misure_c24_s20_p1_noap.avi}}|
-^position 2|speed 0[step/s]|:::|{{:wnlab:err_dist_c24_s20_p2.png?200}}|{{:wnlab:err_dist_c24_s20_p2_noap.png?200}}|RMSE: 1.1 [m]/ 1.4 [m]\\ 75<sup>th</sup> pc: 1 [m]/ 1.6 [m]\\ 90<sup>th</sup> pc: 1.2 [m] / 2.1 [m] |{{:wnlab:misure_c24_s20_p2.avi}} {{:wnlab:misure_c24_s20_p2_noap.avi}}|
-^position 3|speed 0[step/s]|:::|{{:wnlab:err_dist_c24_s20_p3.png?200}}|{{:wnlab:err_dist_c24_s20_p3_noap.png?200}}|RMSE: 2.7 [m]/ 1.7 [m]\\ 75<sup>th</sup> pc: 3.3 [m]/ 2.7 [m]\\ 90<sup>th</sup> pc: 3.3 [m] / 2.7 [m] |{{:wnlab:misure_c24_s20_p3.avi}} {{:wnlab:misure_c24_s20_p3_noap.avi}}|
-^position 4|speed 0[step/s]|:::|{{:wnlab:err_dist_c24_s20_p4.png?200}}|{{:wnlab:err_dist_c24_s20_p4_noap.png?200}}|RMSE: 2.5 [m]/ 1.7 [m]\\ 75<sup>th</sup> pc: 2.4 [m]/ 2.5 [m]\\ 90<sup>th</sup> pc: 4 [m] / 2.7 [m] |{{:wnlab:misure_c24_s20_p4.avi}} {{:wnlab:misure_c24_s20_p4_noap.avi}}|
-^position 5|speed 0[step/s]|:::|{{:wnlab:err_dist_c24_s20_p5.png?200}}|{{:wnlab:err_dist_c24_s20_p5_noap.png?200}}|RMSE: 3.3 [m]/ 1.5 [m]\\ 75<sup>th</sup> pc: 3.4 [m]/ 3.5 [m]\\ 90<sup>th</sup> pc: 3.5 [m] / 3.2 [m] |{{:wnlab:misure_c24_s20_p5.avi}} {{:wnlab:misure_c24_s20_p5_noap.avi}}|
-^coil path|speed 1/3[step/s]|:::|{{:wnlab:err_dist_c24_s20_savazzi.png?200}}|{{:wnlab:err_dist_c24_s20_savazzi_noap.png?200}}|RMSE:  1.2[m]/ 1.9 [m]\\ 75<sup>th</sup> pc:  1[m]/ 1.4 [m]\\ 90<sup>th</sup> pc: 2[m] / 3.2 [m] |{{:postuloca:misure_c24_s20_savazzi.avi}} {{:wnlab:misure_c24_s20_savazzi_noap.avi}}|
-==== Scenario m17-25_s20 ====
-^ Scenario ^ Parameters ^ Anchor positions ^ AP Int. ^ No AP Int.^ Metrics ^ Notes and video ^
-^ oblique path | //area//: 3.6x4.8[m]\\ //anchors//: 20\\ //speed//: 1[step/s]\\ //channels//: 17,25\\ //origin//: WN Lab. | {{:postuloca:c40_s20.png?200}} |{{:postuloca:err_dist_m17-25_s20_diag.png?200}}|{{:postuloca:err_dist_m17-25_s20_diag_noap.png?200}}| RMSE: 0.53 [m]/ 0.56 [m]\\ 75<sup>th</sup> pc: 0.65 [m]/ 0.72 [m]\\ 90<sup>th</sup> pc: 0.79 [m] / 0.86 [m] |{{:postuloca:misure_m17-25_s20_diag.avi}} {{:postuloca:misure_m17-25_s20_diag_noap.avi}} |
-^position 1|speed 0[step/s]|:::|{{:wnlab:err_dist_m17-25_s20_p1.png?200}}|{{:wnlab:err_dist_m17-25_s20_p1_noap.png?200}}|RMSE: 2 [m]/ 1.7 [m]\\ 75<sup>th</sup> pc: 2.1 [m]/ 1.8 [m]\\ 90<sup>th</sup> pc: 2.2 [m] / 2.1 [m] |{{:wnlab:misure_m17-25_s20_p1.avi}} {{:wnlab:misure_m17-25_s20_p1_noap.avi}}|
-^position 2|speed 0[step/s]|:::|{{:wnlab:err_dist_m17-25_s20_p2.png?200}}|{{:wnlab:err_dist_m17-25_s20_p2_noap.png?200}}|RMSE: 1.3 [m]/ 1.2 [m]\\ 75<sup>th</sup> pc: 1.4 [m]/ 1.3 [m]\\ 90<sup>th</sup> pc: 2 [m] / 1.3 [m] |{{:wnlab:misure_m17-25_s20_p2.avi}} {{:wnlab:misure_m17-25_s20_p2_noap.avi}}|
-^position 3|speed 0[step/s]|:::|{{:wnlab:err_dist_m17-25_s20_p3.png?200}}|{{:wnlab:err_dist_m17-25_s20_p3_noap.png?200}}|RMSE: 2.1 [m]/ 2.4 [m]\\ 75<sup>th</sup> pc: 2.8 [m]/ 2.5 [m]\\ 90<sup>th</sup> pc: 3.6 [m] / 2.7 [m] |{{:wnlab:misure_m17-25_s20_p3.avi}} {{:wnlab:misure_m17-25_s20_p3_noap.avi}}|
-^position 4|speed 0[step/s]|:::|{{:wnlab:err_dist_m17-25_s20_p4.png?200}}|{{:wnlab:err_dist_m17-25_s20_p4_noap.png?200}}|RMSE: 2.3 [m]/ 3.2 [m]\\ 75<sup>th</sup> pc: 2.8 [m]/ 3.8 [m]\\ 90<sup>th</sup> pc: 2.9 [m] / 3.9 [m] |{{:wnlab:misure_m17-25_s20_p4.avi}} {{:wnlab:misure_m17-25_s20_p4_noap.avi}}|
-^position 5|speed 0[step/s]|:::|{{:wnlab:err_dist_m17-25_s20_p5.png?200}}|{{:wnlab:err_dist_m17-25_s20_p5_noap.png?200}}|RMSE: 3.4 [m]/ 2.7 [m]\\ 75<sup>th</sup> pc: 3.7 [m]/ 3.7 [m]\\ 90<sup>th</sup> pc: 3.8 [m] / 3.8 [m] |{{:wnlab:misure_m17-25_s20_p5.avi}} {{:wnlab:misure_m17-25_s20_p5_noap.avi}}|
-^coil path|speed 1/3[step/s]|:::|{{:wnlab:err_dist_m17-25_s20_savazzi.png?200}}|{{:wnlab:err_dist_m17-25_s20_savazzi_noap.png?200}}|RMSE:  1.4[m]/ 0.7 [m]\\ 75<sup>th</sup> pc:  1.6[m]/ 0.9 [m]\\ 90<sup>th</sup> pc: 2.2 [m] / 1 [m] |{{:wnlab:misure_m17-25_s20_savazzi.avi}} {{:wnlab:misure_m17-25_s20_savazzi_noap.avi}}|
-==== Scenario m12-14-20-24_s20 ====
-^ Scenario ^ Parameters ^ Anchor positions ^ AP Int. ^ No AP Int.^ Metrics ^ Notes and video ^
-^ oblique path | //area//: 3.6x4.8[m]\\ //anchors//: 20\\ //speed//: 1[step/s]\\ //channels//: 12,16,20,24\\ //origin//: WN Lab. | {{:postuloca:c40_s20.png?200}} | {{:postuloca:err_dist_m12-16-20-24_s20_diag.png?200}}|{{:postuloca:err_dist_m12-16-20-24_s20_diag_noap.png?200}}| RMSE: 0.67 [m]/0.44 [m]\\ 75<sup>th</sup> pc: 0.8 [m]/ 0.53[m]\\ 90<sup>th</sup> pc: 0.98/0.61 [m] | {{:postuloca:misure_m12-16-20-24_s20_diag.avi}} {{:postuloca:misure_m12-16-20-24_s20_diag_noap.avi}}|
-^position 1|speed 0[step/s]|:::|{{:wnlab:err_dist_m12-16-20-24_s20_p1.png?200}}|{{:wnlab:err_dist_m12-16-20-24_s20_p1_noap.png?200}}|RMSE: 1.9 [m]/1.2 [m]\\ 75<sup>th</sup> pc: 2.3 [m]/ 1.6[m]\\ 90<sup>th</sup> pc: 2.3/1.8 [m] |{{:wnlab:misure_m12-16-20-24_s20_p1.avi}} {{:wnlab:misure_m12-16-20-24_s20_p1_noap.avi}}|
-^position 2|speed 0[step/s]|:::|{{:wnlab:err_dist_m12-16-20-24_s20_p2.png?200}}|{{:wnlab:err_dist_m12-16-20-24_s20_p2_noap.png?200}}|RMSE: 0.95 [m]/1.4 [m]\\ 75<sup>th</sup> pc: 1.2 [m]/ 1.8[m]\\ 90<sup>th</sup> pc: 1.2/2[m] |{{:wnlab:misure_m12-16-20-24_s20_p2.avi}} {{:wnlab:misure_m12-16-20-24_s20_p2_noap.avi}}|
-^position 3|speed 0[step/s]|:::|{{:wnlab:err_dist_m12-16-20-24_s20_p3.png?200}}|{{:wnlab:err_dist_m12-16-20-24_s20_p3_noap.png?200}}|RMSE: 2.1 [m]/2.1 [m]\\ 75<sup>th</sup> pc: 2.8 [m]/ 2.8[m]\\ 90<sup>th</sup> pc: 3.6/2.8 [m] |{{:wnlab:misure_m12-16-20-24_s20_p3.avi}} {{:wnlab:misure_m12-16-20-24_s20_p3_noap.avi}}|
-^position 4|speed 0[step/s]|:::|{{:wnlab:err_dist_m12-16-20-24_s20_p4.png?200}}|{{:wnlab:err_dist_m12-16-20-24_s20_p4_noap.png?200}}|RMSE: 3 [m]/0.2.2 [m]\\ 75<sup>th</sup> pc: 3.5 [m]/ 2.6[m]\\ 90<sup>th</sup> pc: 3.8/2.8 [m] |{{:wnlab:misure_m12-16-20-24_s20_p4.avi}} {{:wnlab:misure_m12-16-20-24_s20_p4_noap.avi}}|
-^position 5|speed 0[step/s]|:::|{{:wnlab:err_dist_m12-16-20-24_s20_p5.png?200}}|{{:wnlab:err_dist_m12-16-20-24_s20_p5_noap.png?200}}|RMSE: 3.2 [m]/1.6 [m]\\ 75<sup>th</sup> pc: 4.4 [m]/ 1.4[m]\\ 90<sup>th</sup> pc: 4.4/1.9 [m] |{{:wnlab:misure_m12-16-20-24_s20_p5.avi}} {{:wnlab:misure_m12-16-20-24_s20_p5_noap.avi}}|
-^coil path|speed 1/3[step/s]|:::|{{:wnlab:err_dist_m12-16-20-24_s20_savazzi.png?200}}|{{:wnlab:err_dist_m12-16-20-24_s20_savazzi_noap.png?200}}|RMSE:  0.6[m]/ 0.8 [m]\\ 75<sup>th</sup> pc:  0.7[m]/ 0.9 [m]\\ 90<sup>th</sup> pc: 0.9 [m] / 1.2 [m] |{{:wnlab:misure_m12-16-20-24_s20_savazzi.avi}} {{:wnlab:misure_m12-16-20-24_s20_savazzi_noap.avi}}|
 ====Localization Performance Vs Link Quality====
@@ Line 106: / Line 45: @@
 ^ RMSE                                 ^ 75° Percentile                        ^ 90° Percentile                         ^
-|{{:postuloca:rmse_vs_ap_int.png?200}}|{{:postuloca:75prc_vs_ap_int.png?200}}|{{:postuloca:90prc_vs_ap_int.png?200}}|
+|{{rmse_vs_ap_int.png?200}}|{{75prc_vs_ap_int.png?200}}|{{90prc_vs_ap_int.png?200}}|
 ^ Channel ZigBee ^ S/N (dBm) ^