Re: [simspark-devel] pixel camera perceptor

[Sander v. D. <sgv...@gm...>]

Hey all,

>From the point of view of RoboCup I myself am more in favor of adding extra
information to the vision perceptor like a rotation matrix. In my view the
3D simulation should offer things that the real leagues can't handle yet. At
the moment it might be unreal for humanoid robots to perceive body posture
and orientation, but I think this should be possible in the future.

On the other hand, a pixel camera is realistic and is good from a generic
simulator point of view (and perhaps an entertainment point of view during
matches). However for the RoboCup 3D league I'd say it's a step back, why
have our teams mess with a problem that all other leagues are already
working on.

In the discussion of simspark 'vs' webots it might have a good thing to have
though, because it seemed like one of the things why webots is perceived as
more advanced.

So my ideas are as follows:
- The current vision perceptor should be expanded/restricted: restrict field
of vision and like Joschka said, make the robot's head movable. Add vision
noise again. For agents to be able to have a higher level strategy
concerning teammates and opponents, vision objects should atleast get a
rotation matrix relative to the agent and preferably the data of other
robots should be expanded. Full position of all body parts might be a bit
too much data, perhaps just torso, head, feet and hands.

- The pixel camera should be implemented in such a way that the pixel data
can be received by the agent and also by the monitor, so we can show cool
first person action during matches. Yuan's idea to make a seperate camera
server seems like a solution for this, and also I think the possibility of
doing this extra rendering on seperate machines is nice. However, somehow it
doesn't seem pretty in my head, but for the moment I don't have a better
idea yet :)

Regards,

Sander

On Thu, Apr 10, 2008 at 3:14 PM, Yuan Xu <xuy...@gm...> wrote:

> Hi again,
>
> I think the vision can not get rotation matrix, it is unreal!
> We should consider the results after vision processing in real robots.
> Then it will be easier for teams when using pixel image 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?
> >
>
> --
> Best wishes!
>
> Xu Yuan
> School of Automation
> Southeast University, Nanjing, China
>
> mail:   xuy...@gm...
>          xy...@ya...
> web:   http://xuyuan.cn.googlepages.com
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