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--- newsletters:2026-08 [2026/09/22 14:17] – [Localization] osnr
+++ newsletters:2026-08 [2026/09/22 14:20] (current) – [Object tracking] osnr
@@ Line 130: / Line 130: @@
         * Raw centroid of contour
         * Compute centroid transform by registering centers at a few different points
-        * Same-side arc contour
+        * Same-side arc contour or opposite-side arc contour: if you just take the side either near the camera or away from the camera, you know it's consistently the arc of the top or bottom of the object
-        * Opposite-side arc contour
+          * {{.:pasted:20260922-141914.png?200px}}
+          * This was most promising for a while and felt most principled
 Interpolation (SAM2 is pretty slow, 60-100ms per frame)?
@@ Line 208: / Line 209: @@
   - Successful RN16 response from tag, we decode it correctly, send the correct RN16 back, then get an EPC from tag, then decode it incorrectly and fail checksum
   - Successful RN16, decode correctly, send correct RN16 back, get EPC from tag, decode correctly, checksum succeeds. We have a valid EPC from the tag!
+(These are tiers for an individual hop. There's a further sequence of tiers that is about the whole round of hops, where we're hopping every 20MHz to cover 800MHz to 1080MHz to get the wideband channel estimate.)
 We're starting to break these tiers out into the PC UI.