AlertHandler: double-checking for legitimacy of an object close to wall edges.

[tsirif]

It is common that due to tf arithmetical errors or errors at calculation, an alert is depicted twice in two different points in space because raycasting towards the alert's direction hits on the edge of a wall marginally.

[tsirif]

Can be solved in conjunction with Sensor Coverage: Every time coverage is updated, objects in primary sensor's range will be checked. Their probability is to be punished by a standard percentage (depends on the object type as a consequence of the differences in sensitivity of detector). If an object's probability drops under a certain threshold (let's say that 25% is fine), it is deleted. This dictates also that Alert Handler will accept only alerts whose probability is above this certain threshold.

[tsirif]

Examine a solution with kinect: Alert messages should include the depth of poi's pixel. So we can check if the distance of the object and us is consistent with poi's depth.

[tsirif]

Pois from usb cameras should be checked again with kinect (??)

[tsirif]

Examine if we can have a kinect forwards and a kinect backwards, so we can have total coverage all around.

[czalidis]

Αυτά τι τα γράφεις εδώ; Δεν έχουν καμία σχέση με τον κώδικα, γράψτα στο
trello!

On Tue, Dec 16, 2014 at 9:11 PM, Christos Tsirigotis <
[email protected]> wrote:

Examine if we can have a kinect forwards and a kinect backwards, so we can
have total coverage all around.

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