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koseng-lc / v9-localization

Alfarobi V9 - Localization
https://iseng-project.id/blog/sistem-penentu-posisi-robot/
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no package "vision_utils" #1

Open pannatorn6395 opened 2 years ago

pannatorn6395 commented 2 years ago

image

koseng-lc commented 2 years ago

Sorry for late reply, the package dependency if I'm not mistaken is https://github.com/koseng-lc/vision-utils.

Anyway, I have stopped working on this project three years ago, I forgot a lot, but I'll help you in every part that I remember.

pannatorn6395 commented 2 years ago

Thank you a lot

pannatorn6395 commented 2 years ago

Can you recommend what I must be learning about localization in humanoid soccer?

koseng-lc commented 2 years ago

In my perspective, the concept of localization itself is the same regardless the robots are. The distinctive process comes from how you extract the features from the environment. The book I used for the localization is Probabilistic Robotics by Sebastian Thrun. For the extraction, I'm just using a simple line detection using RANSAC, then projects the line to the robot perspective.