Aibo Likes Distance Estimation

With a new fix of pose transforms last night, here are some new pose estimated distances of the ball to the center of the body, using nothing but the position of the body and the position of the ball on the screen (plus the known height of the ball):

Actual: 30 Reported: 32
Actual: 50 Reported: 49
Actual: 70 Reported: 69
Actual: 90 Reported: 92
Actual: 110 Reported: 113

As you can see, I am a genius. A few notes though: the estimates get noisier as ball gets further away. This is to be expected: variations in the angle from the focal point (camera point) to the ball xyz space gets narrower, hence the noise has a greater effect on the distance estimation. Now to check the distances at various head angles

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