Figure 1.

The principles of the PLANT algorithm. (A) A flow chart of the algorithm is shown. (B) Representative simulated input trajectory is shown as a series of joint linear segments corrupted with Gaussian noise. (C) The WINLINFIT block detects points compatible with a change of slope (full and empty symbols), which are further refined by the MERGING block based on their statistical significance (full symbols). (D) Reconstructed trajectory, from which it is possible to calculate the slopes and durations of each segment as well as their errors, is shown.