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Assignment Matrix Decomposition

This document describes using matrix decomposition to fit lines to point clouds detected by a robot. It begins by setting up the notebook to display figures and import necessary libraries. It then asks to summarize properties of the covariance matrix and principal component analysis. Next, it discusses using singular value decomposition to fit lines to point clouds representing a hallway, corner, and table. Code is provided to calculate lines from point data, plot the fitted lines, and apply these methods to example point clouds representing different environmental features.

Uploaded by

Noyeem Mahbub
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© © All Rights Reserved
Available Formats
Download as PDF, TXT or read online on Scribd
322 views

Assignment Matrix Decomposition

This document describes using matrix decomposition to fit lines to point clouds detected by a robot. It begins by setting up the notebook to display figures and import necessary libraries. It then asks to summarize properties of the covariance matrix and principal component analysis. Next, it discusses using singular value decomposition to fit lines to point clouds representing a hallway, corner, and table. Code is provided to calculate lines from point data, plot the fitted lines, and apply these methods to example point clouds representing different environmental features.

Uploaded by

Noyeem Mahbub
Copyright
© © All Rights Reserved
Available Formats
Download as PDF, TXT or read online on Scribd
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[WS14/15]MathematicsforRoboticsandControl:
Assignment004Matrixdecomposition
Firstwewillsetupthisnotebooksothatfiguresandplotscanbeshowninthenotebookpage.
In[93]:
try:
shell = get_ipython()
shell.enable_pylab("inline")
except NameError:
pass
import numpy.linalg as LA
import numpy
import matplotlib
from matplotlib import pylab, mlab, pyplot
np = numpy
plt = pyplot
from IPython.display import display
from IPython.core.pylabtools import figsize, getfigs
import IPython
from pylab import *
from numpy import *

Hint:Beforeyoustartsolvingtheassignment,youmightwanttocheckthefollowingnumpyfunctions:
numpy.linalg.svd

Covariancematrixproperties
Writeamathematicallysoundproofforeachofthefollowingpropertiesofthecovariancematrix:
1)ThatforagivenmatrixXmn ,wheren isthenumberofobservationsandm isthenumberof
variables,theexpression
1
N 1

(xij x
j )(xik x
k )

yieldsthecovariancematrix.
2)Underwhichconditionstakingdoestheeigendecompositionofamatrixyieldanorthonormalbasis,
andforwhichvectorspace.
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3)WhenapplyingPrincipalComponentsAnalysis,eacheigenvectorpointsintothedirectionofonethe
dataset'sprincipalcomponentsandhowmuchdothecomponentcontributetotheoverallvarianceis
relatedtoeacheigenvector'seigenvalue.

Fittinglinestopointclouds
Readthisarticleaboutleastsquaresfitting(http://mathworld.wolfram.com/LeastSquaresFitting.html).
Readthislectureaboutlinearleastsquaresandmatrixdecompositions
(http://classes.soe.ucsc.edu/cmps290c/Spring04/paps/lls.pdf).Forallofthefollowingfittingtasks,
useasingularvaluedecompositiontofitapairoflinestoeachofthegivenpointclouds.

Detectingahallway
TherobotisdrivinginahallwaywhenitstartsitsKinectobtainingthefollowingplointcloud.

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In[94]:
import IPython
IPython.core.display.Image("images/hallway.png", embed=True)
Out[94]:

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In[95]:
%matplotlib inline
import matplotlib.pyplot as plt
def matrix_calculation(filename):
line = np.load(filename)
x= line[:,0]
y = line[:,1]
A = np.column_stack((x, np.ones(len(x))))
m,c = svd_solver(A,y)
return x,m,c
# x, y, m, c = matrix_calculation('data/Q1.npy')
# print y
def plotting(line, halt):
# to plotting the data from matrix calculation
plt.title('Scatter plot')
#plotting the values of x, m, c
plt.plot(line[0], line[1]*line[0] +line[2] , 'r', label = ' Fitted line data'
#plt.plot(x2, m1*x2+c1, 'r', label = ' Fitted line data')
plt.hold(halt)
if not halt:
plt.legend()
plt.show()
def svd_solver(A, b):
U,s,V= (LA.svd(A))
#print U.shape, s.shape, V.shape
#U = np.matrix(U),V
inv = np.dot((V.T).dot(np.diag(s**(-1))), U[:,:2].T)
#print inv
x = np.dot(inv,b)
#print x
return x

Yourtaskistofitapairlinesbasedonthepointsgeneratedbytherobot'sKinect.

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In[96]:
def compute_parallel_lines(first_line, second_line):
plotting(first_line, True)
plotting(second_line, False)

In[97]:
first_line=matrix_calculation('data/P1.npy')
second_line = matrix_calculation('data/Q1.npy')
compute_parallel_lines(first_line,second_line)

Detectingacorner
Attheendofthehallwaytherobotdetectsadramaticchangeinthepointcloud.

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In[98]:
import IPython
IPython.core.display.Image("images/corner.png", embed=True)
Out[98]:

Yourtaskistofitapairlinesbasedonthepointsgeneratedbytherobot'sKinect.
In[99]:
def compute_perpendicular_lines(first_line, second_line):
plotting(first_line, True)
plotting(second_line, False)

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In[100]:
first_line=matrix_calculation('data/Q1.npy')
second_line = matrix_calculation('data/Q2.npy')
compute_perpendicular_lines(first_line,second_line)

Detectingatable
Whentherobotturnsatatablenearbythepointclouditreceivesisthefollowing.

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In[101]:
import IPython
IPython.core.display.Image("images/rectangle.png", embed=True)
Out[101]:

In[102]:
def compute_rectangle_lines(first_line, second_line, third_line, fourth_line):
plotting(first_line, True)
plotting(second_line, True)
plotting(third_line, True)
plotting(fourth_line, False)

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In[103]:
first_line=matrix_calculation('data/P2.npy')
second_line = matrix_calculation('data/S2.npy')
third_line = matrix_calculation('data/R2.npy')
fourth_line=matrix_calculation('data/Q2.npy')
compute_rectangle_lines(first_line, second_line, third_line, fourth_line)

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