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23 -9 17 -4 13 0 13 4 13 3 16 -1 13 0 16 1 12 1 11 5 9 5 4 8 16 3 8 7 11 8 19 2 9 4 4 12 12 3 2 12 15 1 21 -5 20 -3 12 4 18 -3 25 -7 15 1 11 6 15 0 15 2 0 13 3888 1786 68 MP strokeSOgrc100 j-41 71 -41 -71 82 0 1751 4110 4 MP0 sgDPgs 899 389 5361 4227 MR c npgr-41 71 -41 -71 82 0 5324 941 4 MPDPgs 899 389 5361 4227 MR c npgr2530  294 mt (Filtering and smoothing result with UKF) s 882 4658 mt ( ) s6243  431 mt ( ) s1 sg0 772 1573 0 0 -772 959 1221 4 MPPP-1573 0 0 772 1573 0 0 -772 959 1221 5 MP stroke4 wDOSO6 w0 sg 959 1221 mt 2532 1221 L 959  449 mt 2532  449 L 959 1221 mt  959  449 L2532 1221 mt 2532  449 L 959 1221 mt 2532 1221 L 959 1221 mt  959  449 L 959 1221 mt 2532 1221 L 959  449 mt 2532  449 L 959 1221 mt  959  449 L2532 1221 mt 2532  449 L1405  582 mt (Real trajectory) sgs 959 449 1574 773 MR c np343 0 1027 540 2 MP strokegr1405  730 mt (UKF estimate) sgs 959 449 1574 773 MR c npDAc8343 0 1027 687 2 MP strokeSOgrc80 sg1405  878 mt (URTS estimate) sgs 959 449 1574 773 MR c npDDc9343 0 1027 835 2 MP strokeSOgrc90 sg1405 1025 mt (UTF estimate) sgs 959 449 1574 773 MR c npDDc10343 0 1027 982 2 MP strokeSOgrc100 sg1405 1173 mt (Positions of sensors) sgs 959 449 1574 773 MR c npgs 1125 1056 147 147 MR c np-41 71 -41 -71 82 0 1157 1153 4 MPDPgrgrend %%Color Dicteplot%%EndObjectepageendshowpage%%Trailer%%BoundingBox:    70   215   550   602%%Pages: 001%%EOF