HSL Vision Pipeline Sensor

Stefan Glaser
2026-02-10T19:27:19Z

__Classes instead of object IDs__:

A typical vision pipeline detects object classes instead of unique object ids. Having only class information poses a different challenge and better reflects the current state of the real robot leagues.

__Noise__:

There should be some noise in the vision pipeline relative to the distance (and maybe size) of the detected object. Furthermore, there might be false-positive as well as missing object detections.

__Occlusion__:

Currently, the vision pipeline can see though all objects in the world. It would be a great improvement to suppress the detection of occluded markers.

__Player Detection__:

Not sure how reasonable a dedicated player detection is. There is some active research in body pose detectors, so I guess having a dedicated player detection providing key-points on body segments (similar to how it is implemented now) is somehow reasonable.