Re: [rc-hackers] Maybe useful for new iCub users.

[<F.F...@he...>]

You're the man Federico, well done.

I'm currently running the attentional system on the simulatur with mixed 
success.

Especially the two following problems are a bit of a handicap - if you 
found any solutions to this, I'd be very thankful, if you could tell me.

Motion detection:  as the motion detection does not take
into account/take out the robots own movements, I observed that
my hand waving for example is less salient than edges in
the simulated world, including edges from the robots own 
"eyeballs". I couldn't test it yet on the real robot though.

Color detection: Red is salience-wise absolutely dominant compared to 
green, blue and yellow which in theory should have the same salience. I had 
a look at the absolute values of the color channels which are used to 
calculate the color salience and it turned out that the absolute value of 
the red channel when looking at a red ball is bigger than the absolute 
value of the blue channel when looking at a blue ball. I'm not sure if this 
is a particular property of my camera, or if this is caused though the 
artificial light in the lab, or if this is a general property of the world 
- the latter would be the worst case.

Apart from these problems: 
If you have a parameter set (essentially a set of filter weights)
that produces approximately the behaviour that is shown
in the icub attention video I'd ask you to put those also on
the Wiki - that's extremely useful practical information that
can save you hours of parameter fiddling. 
For my part I promise to put a parameter set on the Wiki
as soon as I found one that produces a halfways "natural" 
behaviour, i.e. a behaviour as seen in the video.

Cheers

Frank

>
> I wrote a small wiki entry in the icub wiki, for getting the attention 
> system code running. (Useful for a nice demo, and for testing the robot).
>
> There is a link to it in the iCub manual in the last chapter "How to 
> install the robot"
>
>http://eris.liralab.it/wiki/Manual
>http://eris.liralab.it/wiki/Attention_system_for_dummies
>
>Everybody is welcome to fix it!! :)
>
>I'll try to keep documenting how to get more demos running in the iCub.
>
>All the best,
>Federico Ruiz-Ugalde
>TU-Muenchen
>
>
>  
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