5.4. Experiment 4: comparing the real and simulated Smart Space
Testbeds
Finally, Experiment 4 addresses the secondary objective of accurately matching the simulation LED source and color sensor readings to a physical space. The process of calibrating the response of the actual sensors in the Smart Space Testbed to the actual sources was described in Section 4.1.
Fig. 17a shows the simulated Smart Space Testbed, and Fig. 17b shows a diagram of the Smart Space Testbed from above, indicating the layout and numbering scheme of each LED/color sensor pair. The left and right sides of the diagram correspond to the near and far sides of the room in Fig. 17a, respectively.