- Sep 27, 2013View SourceThanks for your help, Dave!! Unfortunately when I started working with Tekkotsu there wasn't so many amazing features such you have developed in the last years!! So I programmed a (fair) simple behavior to just receive movement commands (both head and movement) and send images to the PC. I have also deactivated the on-board segmentation part as it was to slow (on the AIBO) for real time operation when you are considering more than 1-2 colors. At now I just send the plain image and do al the processing stuff at the PC.
I'm using your same segmentation algorithm (CMvision) but it is executed at the PC as a JNI-C module. I have also changed the image headers so I send together all the data I need (image pixels, robot velocity, head position), due to synchronization issues (when I was using different sockets the data is not often synchronized and I'd to do a lot of things to synchronize it again).
I don't know if could it be possible to adapt my behavior structure to Nodes, as I'm doing a lot of things off-board, but I'll give a try when I've some time as I thing it is surely worth.
Ignacio Herrero Reder / Tl. +34-188.8.131.52 Dpto. Tecnologia Electronica / Fax: +34-184.108.40.206 E.T.S. Ing. Telecomunicacion / nhr@... Universidad de Malaga / http://www.dte.uma.es Campus Universitario de Teatinos 29010 Malaga, SpainEl 27/09/2013 7:04, Dave Touretzky escribió:
> Hello! I'm interested in adding some autolocalization features to
> my AIBO robot. Could it be possible using VisualRoutinesBehavior
> (and its ParticleFilter) to achieve this?
Yes, the ShapeBasedParticleFilter class will do localization. It is
used by the Pilot to handle localization.
> At now my own behavior (I'm not using nodes) is a subclass of
> BehaviorBase...should I instance it to VisualRoutinesBehavior
Yes, you'll need to do that to use the particle filter.
But if you're not using nodes at all, then you're missing out on a lot
of the goodness of Tekkotsu, such as the MapBuilder, which handles
vision processing, and the Pilot, which does localization and
I don't know how well these things will run on an AIBO these days; we no
longer support that platform. But it should be easy to compile some demo
programs and see. Try the labs on the Tekkotsu wiki:
-- Dave Touretzky