Testing the distance estimations that new matrix transformations of the aibo’s joints and camera have produced so far. The effort is promising, and I think it is nearly 95% done, but I’m still getting a consistently over estimated distances for objects to the center of the body.

Figuring that most of the work is done there, I’ve moved on to porting all that line recognition code I’ve written in our offline ‘cortex’ environment to its on class in the Vision module. Tomorrow I hope to do some corner recognition PLUS actually estimating distances to that point. Fun stuff. We’re inching closer towards making that real localization system for our team that we’ve always been talking about–just a few more weeks I believe.