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NUbots / robocup

The NUbot's RoboCup Code
GNU General Public License v3.0
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Localisation fails to throw out wrong-side-of-field goalposts #62

Open josiahw opened 11 years ago

josiahw commented 11 years ago

This creates symmetric localisation problems. Is there a way to throw out wrong direction models based on error before they get dragged into symmetric positions?

josiahw commented 11 years ago

We have been testing the new behaviour and can confirm that this issue is bad enough to drag the robot to the wrong end of the field while stationary (ie we can't position ourselves sometimes). I think we need very tight throw out checks on goalposts as our distance estimates look like they're a bit all over the place.

josiahw commented 11 years ago

we can still use bearing information for these objects as this isn't so noisy, but we definitely need to be cautious about distances

StevenNicklin commented 11 years ago

Are you talking about symmetry on opposite halves of the field or on either side of the same half?

josiahw commented 11 years ago

opposite halves.

On Sun, Jun 16, 2013 at 10:27 PM, snicklin notifications@github.com wrote:

Are you talking about symmetry on opposite halves of the field or on either side of the same half?

— Reply to this email directly or view it on GitHubhttps://github.com/nubots/robocup/issues/62#issuecomment-19511639 .