Experimental Findings

ASE Semi-Dense Point Cloud Visualization

0.1 EFM Snippet Visualizations

Quick reference of all visuals currently in docs/figures/app.

1 Candidate Pose Generation

Candidate set oriented away from trajectory Frusta pointing away from reference Direction and distance coverage over full circle

1.1 Rendering

Candidate renders for sampled poses Rendered frusta with depth overlay Depth histogram diagnostics

---
title: Experimental Findings
format: html
---

![ASE Semi-Dense Point Cloud Visualization](../../figures/ase_semi_dense.png)

![ASE GT Mesh Sample](../../figures/gt_mesh_manhattan_sample.png)

![Candidate Pose Sampling Visualization](../../figures/candidate_pose.png)

![Candidate Pose Sampling Visualization](../../figures/candidate_pose2.png)

## EFM Snippet Visualizations

Quick reference of all visuals currently in `docs/figures/app`.

![Semi-dense point cloud overlay](../../figures/app/semidense.png)

![Trajectory overview](../../figures/app/traj.png)

![Ground-truth OBBs](../../figures/app/gt_obbs.png)

![First vs final frames comparison](../../figures/app/first_final_frames.png)

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# Candidate Pose Generation

![App options and controls](../../figures/app/app_options.png)

![Candidate set oriented away from trajectory](../../figures/app/cand_away.png)
![Frusta pointing away from reference](../../figures/app/frusta_away.png)
![Direction and distance coverage over full circle](../../figures/app/dir_dist_full_circ.png)

![Candidate distribution over full circle](../../figures/app/candidates_full_circ.png)

![Collision checking](../../figures/app/collision.png)

![Direction jitter](../../figures/app/jitter_dir_issue.png)

## Rendering

![Candidate renders for sampled poses](../../figures/app/candidate_renders.png)
![Rendered frusta with depth overlay](../../figures/app/render_frusta.png)
![Depth histogram diagnostics](../../figures/app/depth_hist.png)

![Back-projected point cloud](../../figures/app/backproj_pc.png)