Unit 06

Vision: Where Is That?

By the end of this unit you can read a target from the subsystem that owns the camera and aim a mechanism at it without ever blocking the loop, say why a sighting is kept in field coordinates and how exact a merged one is, work out how far a stale frame throws a tag during a turn, and defend leaving vision corrections switched off until the tags have proved they stay put.

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Vision: Where Is That? is behind a locked door

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What's in this unit · 18 min read

  1. Two jobs, one camera
  2. One subsystem owns the camera
  3. What a sighting tells you
  4. null means three different things, on purpose
  5. Do not wait for a good reading
  6. Why a sighting is kept on the field
  7. What makes a stored sighting wrong
  8. How exact is a target?
  9. The arm does not pivot where the robot does
  10. Subtract the pivot first
  11. Where the pivot’s numbers live, and how often you read them
  12. The frame is already old
  13. How wrong, exactly
  14. Keeping the poses you will need
  15. The same detections, the other direction
  16. A tag that moved reads exactly as confidently
  17. Off until proven
  18. A policy that says why it refused
  19. One more conversion, at one more edge

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