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Re: [simspark-devel] About Noise and Restricted Vision
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From: Hedayat V. <hed...@ai...> - 2009-01-25 17:31:31
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Hi!<span><br>
<br>
<style type="text/css">blockquote {color: navy !important; background-color: RGB(245,245,245) !important; padding: 0 15 10 15 !important; margin: 15 0 0 0; border-left: #1010ff 2px solid;} blockquote blockquote {color: maroon !important; background-color: RGB(235,235,235) !important; border-left-color:maroon !important} blockquote blockquote blockquote {color: green !important; background-color: RGB(225,225,225) !important; border-left-color:teal !important} blockquote blockquote blockquote blockquote {color: purple !important; background-color: RGB(215,215,215) !important; border-left-color: purple !important} blockquote blockquote blockquote blockquote blockquote {color: teal !important; background-color: RGB(205,205,205) !important; border-left-color: green !important}</style><i><b>Sander
van Dijk <a class="moz-txt-link-rfc2396E" href="mailto:sgv...@gm..."><sgv...@gm...></a></b></i> wrote on ۰۹/۰۱/۲۵ 06:39:37:</span><br>
<blockquote style="border-left: 2px solid rgb(16, 16, 255); color: navy; background-color: rgb(245, 245, 245); padding-left: 15px;" cite="mid:efd...@ma..." type="cite">Hey,<br>
<br>
This noise model already causes more error for objects further away.
With noise of 1 degree on the angular components there is an error of
1.75 cm if the object is 1 meter away, 17.5 when it is 10 meters away,
et cetera. We could also make the noise for the distance component
dependent on the distance, that may be more realistic (though I'm not
familiar with the performance of real vision systems in this aspect).<br>
</blockquote>
Yes, I was talking about the noise for distance. AFAIK, the real vision
systems have the same property. <br>
<br>
<blockquote style="border-left: 2px solid rgb(16, 16, 255); color: navy; background-color: rgb(245, 245, 245); padding-left: 15px;" cite="mid:efd...@ma..." type="cite"><br>
I am not sure about your last question. This has been implemented
somewhere, I'll have a look to see where and what it is (time I get
into the code again anyway :) )<br>
</blockquote>
:) thanks<br>
<br>
Good luck,<br>
Hedayat<br>
<br>
<blockquote style="border-left: 2px solid rgb(16, 16, 255); color: navy; background-color: rgb(245, 245, 245); padding-left: 15px;" cite="mid:efd...@ma..." type="cite"><br>
Sander<br>
<br>
<div class="gmail_quote">On Sun, Jan 25, 2009 at 1:41 PM, Hedayat
Vatankhah <span dir="ltr"><<a moz-do-not-send="true" href="mailto:hed...@ai...">hed...@ai...</a>></span> wrote:<br>
<blockquote class="gmail_quote" style="border-left: 1px solid rgb(204, 204, 204); margin: 0pt 0pt 0pt 0.8ex; padding-left: 1ex;">
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Hi,<br>
I think the errors should depend on distance too. Far distances should
have more error than near distances. And I think the same thing was
implemented lately in the spheres version(?!).<br>
<br>
Good luck,<br>
Hedayat<br>
<span><br>
<i><b>Sander
van Dijk <a moz-do-not-send="true" href="mailto:sgv...@gm..." target="_blank"><sgv...@gm...></a></b></i> wrote on
۰۹/۰۱/۲۳ 02:26:57:</span>
<div>
<div class="Wj3C7c"><br>
<blockquote style="border-left: 2px solid rgb(16, 16, 255); color: navy; background-color: rgb(245, 245, 245); padding-left: 15px;" type="cite">Perhaps we can just use the model of the old spheres
simulation? Quoting from TEXT_INSTEAD_OF_MANUAL:<br>
<br>
<pre><span> 371 </span>The noise parameters of the vision system are as follows:
<span> 372 </span>
<span> 373 </span>- A small calibration error is added to the camera position. For each
<span> 374 </span>axis, the error is uniformly distributed between -0.005m and
<span> 375 </span>0.005m. The error is calculated once and remains constant during the
<span> 376 </span>complete match.
<span> 377 </span>
<span> 378 </span>- Dynamic noise normally distributed around 0.0
<span> 379 </span> + distance error: sigma = 0.0965
<span> 380 </span> + angle error (x-y plane): sigma = 0.1225
<span> 381 </span> + angle error (latitudal): sigma = 0.1480
</pre>
<br>
Sander<br>
<br>
<div class="gmail_quote">On Fri, Jan 23, 2009 at 8:37 AM, Hedayat
Vatankhah <span dir="ltr"><<a moz-do-not-send="true" href="mailto:hed...@ai..." target="_blank">hed...@ai...</a>></span>
wrote:<br>
<blockquote class="gmail_quote" style="border-left: 1px solid rgb(204, 204, 204); margin: 0pt 0pt 0pt 0.8ex; padding-left: 1ex;">
<div style="direction: ltr;" bgcolor="#ffffff" text="#000000">
<p style="margin-bottom: 0cm; margin-top: 0pt;">Hi all,</p>
<p style="margin-bottom: 0cm; margin-top: 0pt;">While TC will
make
final decisions until 13th of January, it seems that they'll agree with
introducing noise and also restricted vision for this year. If I
remember correctly, restricted vision is implemented, so we can use it
right now (maybe it needs testing?!). But about noise, please help in
deciding about the noise model for each sensor and implementing it as
soon as possible, so that teams will have enough time to work on them.</p>
<p style="margin-bottom: 0cm; margin-top: 0pt;"><br>
</p>
<p style="margin-bottom: 0cm; margin-top: 0pt;"> I think it
would
be
nice if we release a new version of the simulator before the end of
February. I think we should try to avoid introducing any changes which
could affect teams after that for this year. (We might create a
separate brunch for maintaining the simulator for 2009 if we are
implementing new features in trunk.)</p>
<p style="margin-bottom: 0cm; margin-top: 0pt;"> </p>
<p style="margin-bottom: 0cm; margin-top: 0pt;"><br>
</p>
<p style="margin-bottom: 0cm; margin-top: 0pt;">So, what do you
think
about the noise model? Can we borrow from 2D? And which perceptors
should have noise for this year? All of them or just vision or ...?!</p>
<p style="margin-bottom: 0cm; margin-top: 0pt;"><br>
</p>
<p style="margin-bottom: 0cm; margin-top: 0pt;">Cheers,</p>
<p style="margin-bottom: 0cm; margin-top: 0pt;">Hedayat<br>
</p>
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