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More sophisticated relationships between annotations (v0.2) #14
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From @jihoonl Reference While thinking about the relation between annotation and data, I am questioned the following. These are not for v0.1 development but for long-term view discussion. Is For example, assumes that annotating the Inno Room where has Marcus's Desk, * Daniel's Desk* and Vending Machine. How the current design should represent this? Can World Canvas represent the relation between two annotations? Robot is located at Inno room in RnD Office in Namsung Plaza 6th floor. It need to go to KC's office in Yujin Headquarter in Namsung Plaza 12th floor. Can World Canvas represent relation between Inno room and KC's office? Something like the following. This will allow to generate "global global" path plan something like Marcus's Desk -> Inno Room -> Rnd Office entrance -> 6th Elevator -> 12th Elevator -> Yujin Headquarter Entrance -> KC's Office -> KC's desk. Would it be feasible? Or too ambitious? |
It would be hard to imagine without real examples. How about extracting models or descriptors out from usecase or examples as we need? We have three usecases of World Canvas at the moment.
I will add up examples and some ideas as I come up with. |
Navigation Example from #14 Robot navigates Marcus’s Desk to KC’s Desk. Robot stays at Inno room. Task storyline is the following.
How should we model the locations to navigate the building? |
With this annotation tree. This model have four different types of annotations. Meta Location
Location
Transitional Location
Map transitional Location
where (map) transitional location requires transition method. With assumption that robot can move between children of same parent, it generates path like Daniel's Desk -> Inno Entrance IN -- (transition) -- inno Entrance -> Rnd Entrance In -- (transition) -- (switch map to 6th floor) -- Rnd Entrance -> Elevator Approach -- (transition) -- Elevator -- ..... |
The other use cases are simple compare to navigation example. Localization Marker(or object) based Localization It is annotating an existing object’s pose on the map. A pose message would be sufficient for its purpose. Virtual Obstacle To determine prohibited area where robot cannot visit.
I have not thought about data model design which fits all these use cases yet though. I will come back when I get an idea.. |
@jihoonl Nice example for shaping thoughts, thanks. |
Following discussions on #1, why not to arrange annotations in a tree (following the Scene Graph concept)? (or other sophisticated configurations)
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