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MAV Optical Navigation

MAV Optical Navigation. Update October 21, 2011 Adrian Fletcher, Jacob Schreiver, Justin Clark, & Nathan Armentrout. Agenda. Progress Demonstrations Changes to Plan Goals Questions. Progress. CamShift Tracker working; needs tweaking Code has been modularized

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MAV Optical Navigation

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  1. MAV Optical Navigation Update October 21, 2011 Adrian Fletcher, Jacob Schreiver, Justin Clark, & Nathan Armentrout

  2. Agenda • Progress • Demonstrations • Changes to Plan • Goals • Questions

  3. Progress • CamShift Tracker working; needs tweaking • Code has been modularized • Experimenting with uncalibrated stereo rectification and 3D Mapping • Working on producing disparity-to-depth mapping matrix • Camera calibration and test rig 90% complete • Waiting on a stepper motor driver • Documentation • SyRS was revised further to improve clarity

  4. Demonstrations • Lucas-Kanade Tracker • Pros: Good at tracking • Cons: Scaling isn’t accurate, Needs low-pass filter • CamShift Tracker • Pros: Good at tracking and recognizing distinctly colored objects • Cons: Expands bounding box to include similar colors from histogram • SURF Object Recognition • Pros: Good at recognizing object with similar pose • Cons: Small adjustments cause loss of recognition

  5. Camera Calibration Rig • Allows precise movement of a camera • Translational and rotational

  6. Changes to Plan (1) • SURF Descriptors are too complicated to efficiently use with Machine Learning Algorithms for real-time training • SURF Descriptors can only be compared using nearest neighbor, thus direct comparison for decision trees used • We are switching to using Local Binary Patterns (similar to Haar-Like Features) • OpenTLD utilizes 2 Bit Binary Patterns • No usable OpenCV implementation available • More research needs to be done

  7. Changes to Plan (2) • OpenTLD source is uncommented • Code extraction would be time consuming • Machine Learning for long-term tracking will need to be full custom • This may cause delays in the project schedule • Extent is yet to be determined

  8. Goals • Continue to refine trackers • Research issues with object classifiers and machine learning algorithms • Get 3D projection demos working • Finish camera calibration rig for testing 3D vision • Documentation: Start SDS Baseline

  9. Questions • Can Dr. Lauf attend the midterm presentation for ECE capstone projects on 10/21/11 @ 11:00am-11:50am? • We present at 11:25am.

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