o: pointing location, x:original laser data, +:corrected laser data
600
500
400
300
200
100
0
-100
-700
-600
-500
-400
-300
-200
-100
0
100
Figure
Fifth
Order
P
olynomial
Fit
V
GA
pixels
across
a
X
screen
is
to
b
e
t
to
the
set
of
data
tak
en
as
describ
ed
earlier
A
cluster w
eigh
ted
mo
deling
pac
k
age
dev
elop
ed
b
y
Bernd
Sc
honer
at
the
MIT
Media
Lab
w
as
used
in
conjunction
with
MA
TLAB
to
nd
v
arious
orders
of
p
olynomials
It
w
as
determined
that
a
fth
order
p
olynomial
w
as
satisfactory
for
our
data
set
The
data
w
as
t
using
one
cluster
solving
for
a
global
p
olynomial
for
the
en
tire
parameterized
space
The
results
can
b
e
seen
in
Fig
where
is
no
w
V
GA
pixels
signi can
tly
less
than
the
other
ts
In
order
to
use
CWM
the
data
m
ust
rst
b
e
transformed
to
zero
mean
and
unit
v
ariance
in
x
and
y
The
follo
wing
equations
are
used
to
transform
the
ra
w
data
from