Tracking Cameras
Tracking the robots in physical space is done by identifying colored circles on
top of each robot using four video cameras mounted overhead. Because of the
reliance on visual tracking, the robots must stay within the cameras view of
the world. The viewable area for each camera can be seen on the robot map by selecting the "Show Tracking Camera
Bounds" display option.
Currently the accuracy of the vision system with respect to the real world
coordinates is around 10cm, but is usually closer to 5cm. We are working to
improve this wherever possible, but it may take some time.