Re: [simspark-devel] pixel camera perceptor

[Joschka B. <jos...@am...>]

Hi Feng,

thanks for your quick reply.

On Apr 10, 2008, at 8:48 PM, Feng Xue wrote:

> It is a good idea! This makes our simulation much more realistic!
>
>     Howerever, it may be hard for teams' work. Actually, I have talked
> about this with Yuan some days ago and we both think that most of  
> the teams
> will not support this.

You're probably right. But I don't want to suggest it for the league's  
competitions anyways (at least not for this year), it's more for doing  
research with robots that need realistic vision information.

>  But, how about provide the pixel camera as a additional perceptor

Exaclty, that's what I had in mind.

> and weaken the original vision perceptor?

Yes, good point. I think we could have a camera that has a restricted  
field of view (omni-vision cameras are banned even in the real  
humanoid league from this year on), but that will be tied to the  
orientation of it's parent body, so that it can be changed with joint  
effectors, and we don't need any camera effectors for that. This is  
what we could use for Nao then.

Also, there were some comments that the vision information that is  
sent to the agents should be extended, but it is not clear to me yet  
what should be included. Some people suggested sending a rotation  
matrix (or a quaternion) for the objects that an agent sees, for  
instance. What do you guys think would be most useful?

> And next year, pure pixel camera?

>

That's something that should be discussed on the sserver-three-d list  
and in the TC, I guess. I can imagine that many people will be against  
it (even though it is easy to use standard vision solutions like  
Intel's OpenCV, etc.). This is related to a much deeper question of  
clearly defining the goals of the 3D Soccer Simulation League I  
guess ;-)

Cheers,
Joschka