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facebookresearch / habitat-sim

A flexible, high-performance 3D simulator for Embodied AI research.
https://aihabitat.org/
MIT License
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Observation Clipping and Perspective #2306

Closed johncruyff14 closed 6 months ago

johncruyff14 commented 7 months ago

Hi there! Just a trivial bug or issue. I notice that there are lots of "clipping" or "perspective" observations like below if my agent gets too close to the boundary of the rooms. Is this related to my environment setting(Habitat Challenge 2022 Setting)? Or is this a normal issue to add some noise ? Or maybe this is related to the scene?

The scene mentioned in Habitat Matterport 3D V0.1 Semantic which are used in the Habitat Challenge 2022.
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@aclegg3 @erikwijmans

aclegg3 commented 6 months ago

Hey @johncruyff14 this looks like a standard artifact of 3D scanning processes. Since HM3D scene assets are the result of a scanning pipeline, there can be issues like this. Likely the camera was occluded or there was a reflective surface. In any case, it doesn't look like a simulator bug to me.