I haven’t done too much today, as it was milestone two today and the whole afternoon was spent listening to all presentations and also doing my own.
I did get some valuable feedback on my project. Not really on what I’ve done but on what I will do. The goal now is to create the real sight sensory system for the agent that will function in fully 3D and not just on the XZ-plane as it currently does. The reason for fully 3D vision for the agent is so it can decide if it sees the target or not and also be able to look beneath objects.
The plan is to use synthetic vision by which one render a crude representation of the scene from the agents point of view with objects color coded. The problem arise in that one need to scan over the rendered scene to be able to tell what been seen. The tip I got where to downsample the rendered image without blending the colors. This will resolve in a much smaller buffer to scan through at the loss of precision of objects spatial locations. But as I’m only interested in what I’ve seen and not where as I can easily obtain that information in other ways I can get away with this. Synthetic vision will also be a great way to showoff the agents inner workings.
To get the agent to look beneath objects I plan on render the POM at several heights so it will become a 3D grid visually but stay in 2D logically. Each node will contain flags on which level it is visible, so a node can be inside an object at one level but still remain visible and active at the other levels.