public void FindObject()
        {
            Logger.Instance.LogInfo("Aibo is at " + _vrAibo.Position + "with a rotation of " + _vrAibo.Rotation);
            int objectAheadThreshold = 0;
            System.Drawing.Point here = new System.Drawing.Point((int)_vrAibo.Position.Y, (int)_vrAibo.Position.X);
            Image<Gray, float> disp = new Image<Gray, float>(h, w);
            Image<Gray, byte> leftGrey = new Image<Gray, byte>((Bitmap)_vrAibo.GetBitmapLeftEye());
            Image<Gray, byte> rightGrey = new Image<Gray, byte>((Bitmap)_vrAibo.GetBitmapRightEye());
            doDispMap(ref disp);
            for (int a = 85; a < 170; a++)
            {

                for (int b = 85; b < 170; b++)
                {
                    Gray pixel = disp[b, a];
                    if (pixel.Intensity > 25)
                    {
                        objectAheadThreshold++;

                    }
                }
            }
            Logger.Instance.LogInfo("ObjectThreshold: " + objectAheadThreshold);
            _frmDispMap.SetImage(disp);
            if (objectAheadThreshold > 0) State_AvoidRoundObject(objectAheadThreshold);//return true;
            //return false;
        }

        private void State_AvoidRoundObject(int threshold)
        //Weicht runden Objekten aus.
        //Findet Objekt, dreht sich ein Stück, prüft, ob Objekt immernoch in front.
        //Verbleibendes Problem: wie finde ich die Straße wieder?
        {
            Logger.Instance.LogInfo("Swich state to AVOID_ROUND_OBJECT " );
            int objectAheadThreshold = threshold;
            int turnedSoFar = 0;
            System.Drawing.Point here = new System.Drawing.Point((int)_vrAibo.Position.Y, (int)_vrAibo.Position.X);
            Image<Gray, float> disp = new Image<Gray, float>(h, w);
            Image<Gray, byte> leftGrey = new Image<Gray, byte>((Bitmap)_vrAibo.GetBitmapLeftEye());
            Image<Gray, byte> rightGrey = new Image<Gray, byte>((Bitmap)_vrAibo.GetBitmapRightEye());
           while(objectAheadThreshold > 0){
            doDispMap(ref disp);
            if (objectAheadThreshold > 500)
            {
                _vrAibo.Strafe(0.7f);
                _vrAibo.Turn(-3);
                turnedSoFar = turnedSoFar + 3;
                _frmDispMap.SetImage(disp);
                _vrAibo.Update();
            }
            if ( objectAheadThreshold < 500)
            {
                _vrAibo.Walk(0.7f);
                _vrAibo.Update();
            }

            objectAheadThreshold = 0;
            for (int a = 85; a < 170; a++)
            {

                for (int b = 85; b < 170; b++)
                {
                    Gray pixel = disp[b, a];
                    if (pixel.Intensity > 25)
                    {
                        objectAheadThreshold++;
                     }
                }

            }
             //          _vrAibo.Turn( turnedSoFar);
            Logger.Instance.LogInfo("ObjectThreshold: " + objectAheadThreshold);


           }

        }