{"id":20539415,"url":"https://github.com/betabison/mds-uncertainty","last_synced_at":"2026-04-22T04:01:18.508Z","repository":{"id":198589147,"uuid":"428546284","full_name":"betaBison/mds-uncertainty","owner":"betaBison","description":"Uncertainty quantification for multidimensional scaling","archived":false,"fork":false,"pushed_at":"2023-10-05T23:21:49.000Z","size":751,"stargazers_count":0,"open_issues_count":0,"forks_count":0,"subscribers_count":1,"default_branch":"main","last_synced_at":"2025-03-06T04:13:07.667Z","etag":null,"topics":["edm","mds","uwb-localization"],"latest_commit_sha":null,"homepage":"","language":"Python","has_issues":true,"has_wiki":null,"has_pages":null,"mirror_url":null,"source_name":null,"license":null,"status":null,"scm":"git","pull_requests_enabled":true,"icon_url":"https://github.com/betaBison.png","metadata":{"files":{"readme":"README.md","changelog":null,"contributing":null,"funding":null,"license":null,"code_of_conduct":null,"threat_model":null,"audit":null,"citation":null,"codeowners":null,"security":null,"support":null,"governance":null}},"created_at":"2021-11-16T06:42:42.000Z","updated_at":"2023-10-05T23:24:07.000Z","dependencies_parsed_at":"2023-10-11T01:29:08.611Z","dependency_job_id":null,"html_url":"https://github.com/betaBison/mds-uncertainty","commit_stats":{"total_commits":10,"total_committers":1,"mean_commits":10.0,"dds":0.0,"last_synced_commit":"f3dcf0a5433cd38401315230a2877a4f4a442dbf"},"previous_names":["betabison/mds-uncertainty"],"tags_count":0,"template":false,"template_full_name":null,"purl":"pkg:github/betaBison/mds-uncertainty","repository_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/betaBison%2Fmds-uncertainty","tags_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/betaBison%2Fmds-uncertainty/tags","releases_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/betaBison%2Fmds-uncertainty/releases","manifests_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/betaBison%2Fmds-uncertainty/manifests","owner_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners/betaBison","download_url":"https://codeload.github.com/betaBison/mds-uncertainty/tar.gz/refs/heads/main","sbom_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/betaBison%2Fmds-uncertainty/sbom","scorecard":null,"host":{"name":"GitHub","url":"https://github.com","kind":"github","repositories_count":286080680,"owners_count":32120402,"icon_url":"https://github.com/github.png","version":null,"created_at":"2022-05-30T11:31:42.601Z","updated_at":"2026-04-22T00:31:26.853Z","status":"online","status_checked_at":"2026-04-22T02:00:05.693Z","response_time":58,"last_error":null,"robots_txt_status":"success","robots_txt_updated_at":"2025-07-24T06:49:26.215Z","robots_txt_url":"https://github.com/robots.txt","online":true,"can_crawl_api":true,"host_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub","repositories_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories","repository_names_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repository_names","owners_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners"}},"keywords":["edm","mds","uwb-localization"],"created_at":"2024-11-16T00:51:40.235Z","updated_at":"2026-04-22T04:01:18.471Z","avatar_url":"https://github.com/betaBison.png","language":"Python","funding_links":[],"categories":[],"sub_categories":[],"readme":"# MDS Uncertainty\n\nThis repository contains tools for exploring the position uncertainty\nthat exists when using Multidimensional Scaling (MDS) for localization.\n\nThe report on the effort to quantify MDS uncertainty can be found [here](docs/mds_uncertainty.pdf)\nin the ``docs`` directory.\n\nTo learn more about Multidimensional Scaling, please refer to\n[\\[1\\]](https://ieeexplore.ieee.org/document/7298562/).\n\n![mds_gui](docs/mds_gui.png)\n\u003cp align=\"center\"\u003e\n  \u003cem\u003eexample plot from the mds gui\u003c/em\u003e\n \u003c/p\u003e\n\n## Installation\nInstall python package dependencies from the ``requirements.txt`` file.\n\nInstallation instructions for pytorch can be found [here](https://pytorch.org/get-started/locally/).\n\n## Running the MDS Uncertainty GUI\n\nThe MDS Uncertainty GUI can be run with: ``python3 simulate_mds.py``.\n\nIn the plotted scenario, ranging measurements are being exchanged\nbetween all four robots marked with stars. The range measurements are\nthen input into the multidimensional scaling algorithm and then\nProcrustes anlaysis (also mentioned in [1]) is used to align the MDS\nresult with the true point positions.\n\n### Slider Functions\nThe ``Meas. Std.`` slider increase the standard deviation of all ranging measurements.  \nThe ``Meas. Bias`` slider increases the measurement bias for all\nranging measurements.  \nThe ``X Position`` slider moves the X position of the fourth purple robot.  \nThe ``Y Position`` slider moves the Y position of the fourth purple robot.\n\n### Plot Descriptions\nThe bottom right graph shows the distribution of bias/noise added to the\nranging measurements.  \nThe top right plots show the distributions of the final estimated X and\nY positions for each robot.  \nThe left plot shows a top-down view of the estimated X-Y positions\nof each robot with the 95% confidence interval of the Cramer Rao Lower\nBound ellipse plotted as the black ellipse and centered at the true\nrobot's position.  \n\n## Troubleshooting\nIf plotting is too slow when moving sliders, you can decrease the ``k``\nvariable near the top of ``simulate_mds.py`` ([here](https://github.com/betaBison/mds-uncertainty-private/blob/main/simulate_mds.py#L28)) to decrease the number of samples that are plotted.\n\n## References\n[1] Dokmanic, R. Parhizkar, J. Ranieri, and M. Vetterli, “Euclidean\nDistance Matrices: Essential theory, algorithms, and\napplications,”IEEE Signal Processing Magazine, vol. 32, no. 6,\npp. 12–30, nov 2015.\n","project_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fbetabison%2Fmds-uncertainty","html_url":"https://awesome.ecosyste.ms/projects/github.com%2Fbetabison%2Fmds-uncertainty","lists_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fbetabison%2Fmds-uncertainty/lists"}