{"id":40,"date":"2024-04-04T08:01:24","date_gmt":"2024-04-04T05:01:24","guid":{"rendered":"https:\/\/sisu.ut.ee\/rosak\/kaardid\/"},"modified":"2024-04-04T08:03:57","modified_gmt":"2024-04-04T05:03:57","slug":"kaardid","status":"publish","type":"page","link":"https:\/\/sisu.ut.ee\/rosak\/kaardid\/","title":{"rendered":"3. Kaardid"},"content":{"rendered":"<blockquote>\n<p>\n\t\t<strong>Selleks, et robot liiguks ringi, on tal vaja keskkonnast kaarti. Missugustest kaartidest me aga r\u00e4\u00e4gime?<\/strong>\n\t<\/p>\n<\/blockquote>\n<p>\n\t<span id=\"docs-internal-guid-b0c8bbe8-7fff-3fa7-1ae5-5e8faa40ff8f\">Andurite nagu videokaamerate abil lokaliseerimine t\u00e4hendab, et keskkonnast leitud huvipakkuvad punktid tuleb kokku viia eelnevalt loodud kaardiga. Kaardid jagunevad \u00fcldjoontes kaheks:<\/span>\n<\/p>\n<ul>\n<li>\n\t\t<span id=\"docs-internal-guid-9fdf6b2b-7fff-6765-6f31-5b0696a4a786\">Topoloogilised kaardid<\/span>\n\t<\/li>\n<li>\n\t\t<span id=\"docs-internal-guid-a770aaa3-7fff-82a1-c80e-6d77cc1214bd\">Geomeetrilised kaardid<\/span>\n\t<\/li>\n<\/ul>\n<p>\n\t<em>Nende kaardit\u00fc\u00fcpide kohta info vaatamiseks klikka vahepealkirjadele.<\/em>\n<\/p>\n<p>\n\t<\/p><div class=\"accordion mb-3\">\n        <div class=\"accordion-item accordion-item--white\">\n        <h2 class=\"accordion-header\" id=\"accordion-69d1385eee419-heading\">\n            <button class=\"accordion-button collapsed\" type=\"button\" data-bs-toggle=\"collapse\" data-bs-target=\"#accordion-69d1385eee419-collapse\" aria-expanded=\"true\" aria-controls=\"accordion-69d1385eee419-collapse\"><strong>Topoloogiline kaart<\/strong><\/button>\n        <\/h2>\n        <div id=\"accordion-69d1385eee419-collapse\" class=\"accordion-collapse collapse\" aria-labelledby=\"accordion-69d1385eee419-heading\">\n            <div class=\"accordion-body\">Topoloogiline kaart on enamasti kogumik olulisi punkte (landmark). Igap\u00e4evaelus kohtame topoloogilisi kaarte n\u00e4iteks metrooliine uurides, kust saab selgeks, milline on seos eri peatuste vahel.\n\n<p>\n\t<img loading=\"lazy\" decoding=\"async\" width=\"1044\" height=\"578\" class=\"alignnone wp-image-120\" src=\"https:\/\/sisu.ut.ee\/wp-content\/uploads\/sites\/560\/topmap-est.png\" title=\"topmap-est.png\" alt=\".\" srcset=\"https:\/\/sisu.ut.ee\/wp-content\/uploads\/sites\/560\/topmap-est.png 1044w, https:\/\/sisu.ut.ee\/wp-content\/uploads\/sites\/560\/topmap-est-300x166.png 300w, https:\/\/sisu.ut.ee\/wp-content\/uploads\/sites\/560\/topmap-est-1024x567.png 1024w, https:\/\/sisu.ut.ee\/wp-content\/uploads\/sites\/560\/topmap-est-768x425.png 768w\" sizes=\"auto, (max-width: 1044px) 100vw, 1044px\">\n<\/p>\n<p>\n\t<\/p><\/div>\n        <\/div>\n        <\/div>\n    <\/div>\n\n<p>\n\t<\/p><div class=\"accordion mb-3\">\n        <div class=\"accordion-item accordion-item--white\">\n        <h2 class=\"accordion-header\" id=\"accordion-69d1385eee42c-heading\">\n            <button class=\"accordion-button collapsed\" type=\"button\" data-bs-toggle=\"collapse\" data-bs-target=\"#accordion-69d1385eee42c-collapse\" aria-expanded=\"true\" aria-controls=\"accordion-69d1385eee42c-collapse\"><strong>Geomeetriline kaart<\/strong><\/button>\n        <\/h2>\n        <div id=\"accordion-69d1385eee42c-collapse\" class=\"accordion-collapse collapse\" aria-labelledby=\"accordion-69d1385eee42c-heading\">\n            <div class=\"accordion-body\">Nagu nimigi \u00fctleb, sisaldavad geomeetrilised kaardid geomeetrilist informatsiooni. Geomeetrilised kaardid v\u00f5ivad olla nii pidevad kui ka diskreetsed.\n\n<p>\n\t<span id=\"docs-internal-guid-df34cfb0-7fff-8708-9223-dc59220b79d6\">Diskreetsel juhul on kaardistatud ala jagatud v\u00e4iksemateks t\u00fckkideks. N\u00e4iteks saame 5\u00d75 m suuruse toa jagada 1\u00d71 m suurusteks ruutudeks (nagu alltoodud joonisel). See on kasulik, sest pidevad kaardid on tihti v\u00e4ga suured ja keerulised, mis t\u00e4hendab, et terve kaardi korraga t\u00f6\u00f6tlemiseks on vaja palju arvutusj\u00f5udlust ja m\u00e4lu.<\/span>\n<\/p>\n<p>\n\t<span id=\"docs-internal-guid-3b66cf91-7fff-a6e4-dfbf-9d4448d9fa1c\">Pideval kaardil ei ole ruudustikku, vaid on ruumim\u00f5\u00f5tmed (n\u00e4iteks toa laius). Pidevate kaartide eeliseks on see, et roboti t\u00f5en\u00e4osuslikku asukohta saab v\u00e4ga t\u00e4pselt kirjeldada. Diskreetsel kaardil piirneb robot teadmisega, millises ruudus robot asub. Kui ruut on v\u00e4ga suur (n\u00e4iteks 1\u00d71 m), siis on ka asukohahinnang ebat\u00e4pne. Olukorra parandamiseks saame kaardi jagada aga v\u00e4iksemateks ruutudeks (n\u00e4iteks 10\u00d710 cm), mis annab meile suurema t\u00e4psuse.<\/span>\n<\/p>\n<p>\n\t\u00a0\n<\/p>\n<p>\n\t<img loading=\"lazy\" decoding=\"async\" width=\"1280\" height=\"720\" class=\"alignnone wp-image-121\" src=\"https:\/\/sisu.ut.ee\/wp-content\/uploads\/sites\/560\/geommap-est.png\" title=\"geommap-est.png\" alt=\".\" srcset=\"https:\/\/sisu.ut.ee\/wp-content\/uploads\/sites\/560\/geommap-est.png 1280w, https:\/\/sisu.ut.ee\/wp-content\/uploads\/sites\/560\/geommap-est-300x169.png 300w, https:\/\/sisu.ut.ee\/wp-content\/uploads\/sites\/560\/geommap-est-1024x576.png 1024w, https:\/\/sisu.ut.ee\/wp-content\/uploads\/sites\/560\/geommap-est-768x432.png 768w\" sizes=\"auto, (max-width: 1280px) 100vw, 1280px\">\n<\/p>\n<p>\n\t<\/p><\/div>\n        <\/div>\n        <\/div>\n    <\/div>\n\n<hr>\n<p>\n\tSelles harjutuses on kasutatud ja mugandatud David Kostolani (TU Wien) loodud \u00f5ppematerjale.<\/p>\n","protected":false},"excerpt":{"rendered":"<p>Selleks, et robot liiguks ringi, on tal vaja keskkonnast kaarti. Missugustest kaartidest me aga r\u00e4\u00e4gime? Andurite nagu videokaamerate abil lokaliseerimine t\u00e4hendab, et keskkonnast leitud huvipakkuvad punktid tuleb kokku viia eelnevalt loodud kaardiga. Kaardid jagunevad \u00fcldjoontes kaheks: Topoloogilised kaardid Geomeetrilised kaardid &#8230;<\/p>\n","protected":false},"author":98,"featured_media":0,"parent":0,"menu_order":0,"comment_status":"closed","ping_status":"closed","template":"","meta":{"_acf_changed":false,"inline_featured_image":false,"footnotes":""},"class_list":["post-40","page","type-page","status-publish","hentry"],"acf":[],"_links":{"self":[{"href":"https:\/\/sisu.ut.ee\/rosak\/wp-json\/wp\/v2\/pages\/40","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/sisu.ut.ee\/rosak\/wp-json\/wp\/v2\/pages"}],"about":[{"href":"https:\/\/sisu.ut.ee\/rosak\/wp-json\/wp\/v2\/types\/page"}],"author":[{"embeddable":true,"href":"https:\/\/sisu.ut.ee\/rosak\/wp-json\/wp\/v2\/users\/98"}],"replies":[{"embeddable":true,"href":"https:\/\/sisu.ut.ee\/rosak\/wp-json\/wp\/v2\/comments?post=40"}],"version-history":[{"count":1,"href":"https:\/\/sisu.ut.ee\/rosak\/wp-json\/wp\/v2\/pages\/40\/revisions"}],"predecessor-version":[{"id":361,"href":"https:\/\/sisu.ut.ee\/rosak\/wp-json\/wp\/v2\/pages\/40\/revisions\/361"}],"wp:attachment":[{"href":"https:\/\/sisu.ut.ee\/rosak\/wp-json\/wp\/v2\/media?parent=40"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}