15-494 Cognitive Robotics
Spring 2007
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Cognitive Robotics: Lab 4

Part I: MapBuilder Demo

First, make sure your project/ms/config/tekkogsu.xml file is set up to use 7general.tm and default.col for color segmentation.

Download LocalMapDemo.h and add it to your StartupBehavior_SetupModeSwitch.cc file. Compile it and boot the robot.

Turn off Emergency Stop, and get the robot to stand up by selecting Root Control > File Access; > Load Posture > STAND.POS. (Hold the dog in your hand so there is no weight on the legs while you're doing this.) Turn on the SegCam viewer so you can see what the robot is looking at. Position the robot about a foot away from the tic-tac-toe board.

Run LocalMapDemo on the robot to construct a map of the board. To see the local map, you will need to click on the "L" button in the ControllerGUI instead of the "C" button. Hand in an image file containing the map you constructed. Note: if the map builder doesn't stop on its own, you can stop it by deactivating the LocalMapDemo behavior.

Part II: MapBuilder in the Simulator

lab4.png Download lab4.png and lab4.pos your project/images directory, Make sure there are no other .jpg, .png, or .pos files in that directory. (If you have other files there, move them someplace else.)

Write a new behavior CamMapDemo that invokes the MapBuilder to process the image in camera space. Since we only wish to process a single image, we don't want the map builder to move the head, and we don't need to project the shapes to local space, use cameraMap instead of localMap.

Notice how the map builder handles occlusion of lines by game pieces. Hand in an image file showing the shapes you get in camera space.

Part III: Parsing the Tic-Tac-Toe Board

If time permits, start on Homework 4, parsing the tic-tac-toe board.

Dave Touretzky and Ethan Tira-Thompson