Sensor-Based Programming of Central Pattern Generators in Humanoid Robots

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ALLandMarkDetection is a vision module, in which the robot recognizes special landmarks with specific patterns on them. We call those landmarks Naomarks. For more samples, download this file: Coupled with other sensor information, it can help you build a more robust localization module. The specific location of the different triangle fans is used to distinguish one Naomark from the others. As the detection itself relies on contrast differences, it should actually nao robot programming pdf well as long as the marks in your input images are reasonably well contrasted.

If you feel that the detection is not running well, make sure the camera auto gain is activated - via the Monitor interface - or try to adjust manually the camera contrast. You can find Naomarks in this file: Activate the LandMarkDetection checkbox and start the camera acquisition.

In Python, the code for this subscription is:. The period parameter specifies - in milliseconds - how often ALLandMarkDetection tries to run its detection method and outputs the result nao robot programming pdf an ALMemory output variable called LandmarkDetected. If no Naomarks are detected, the variable is empty. More precisely, it nao robot programming pdf an array with zero element, i.

Enter search terms or a module, class or function name. Size range for the detected Marks: In Python, the code for this subscription is: If N Naomarks are detected, then the variable structure consists of two nao robot programming pdf This field is the time stamp of the image that was used to perform the detection.

Mark ID is the number written on the Naomark and which corresponds to its pattern. Quick search Enter search terms or a module, class or function name.

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