search

larics / nao-xo

Nao plays tic-tac-toe againts human opponent
9 stars 5 forks source link

Make playing field detection more robust to surface flatness #16

Open dmiklic opened 8 years ago

dmiklic commented 8 years ago

Playing field detection can fail when the surface is not perfectly flat. This seems to be a property of the Hough transform. Make this more robust.

fpetric commented 8 years ago

The problem seems to occur when one of the lines marking the playing field is perceived to be composed of two lines due to surface not being flat. In specific cases where these two lines form a small angle, intersection is classified as valid resulting in the incorrect estimation of the pose of the playing field. Fixing #19 should help dealing with the surface flatness problem.