Localisation fails to throw out wrong-side-of-field goalposts

[josiahw]

This creates symmetric localisation problems. Is there a way to throw out wrong direction models based on error before they get dragged into symmetric positions?

[josiahw]

We have been testing the new behaviour and can confirm that this issue is bad enough to drag the robot to the wrong end of the field while stationary (ie we can't position ourselves sometimes). I think we need very tight throw out checks on goalposts as our distance estimates look like they're a bit all over the place.

[josiahw]

we can still use bearing information for these objects as this isn't so noisy, but we definitely need to be cautious about distances

[StevenNicklin]

Are you talking about symmetry on opposite halves of the field or on either side of the same half?

[josiahw]

opposite halves.

On Sun, Jun 16, 2013 at 10:27 PM, snicklin notifications@github.com wrote:

Are you talking about symmetry on opposite halves of the field or on
either side of the same half?

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