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WP2 – Testing campaign and beyond

G.Aielli for the WP2 CERN Technical Meeting 28/01/2016. WP2 – Testing campaign and beyond. Setup for the testing campaign. HDMI  USB3. Arrow Tx. Visual display. PTU. Real time Wireless. Display driver. Full HD image. Animation engine. IMU. Arrow RX. IMU data. WiFi. Pose.

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WP2 – Testing campaign and beyond

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  1. G.Aielli for the WP2 CERN Technical Meeting 28/01/2016 WP2 – Testing campaign and beyond

  2. Setup for the testing campaign HDMI  USB3 Arrow Tx Visual display PTU Real time Wireless Display driver Full HD image Animation engine IMU Arrow RX IMU data WiFi Pose server xPCI Frame grabber/ FPGA Computer memory WRM prototype Visual tracking Sensor fusion

  3. Status in the final testing campaign Impacting new developments • HW chain streamlining • No branching path for video • No overload of the PTU by concentrating the pose calculation in the server • WRM in the system  I/O interface definition • All frames are analyzed and scored for “quality” • WRM emulated on FPGA with comparable performance • Final implementation not ready for the FTC will be finished in the next few months • Filter segments based on part detection • IMU real time stream to the server: • To be completed (just after the FTC) • New implementation of visual algorithm: • IMU data used for better prior determination • Minimization done on both key features and segments • Estimate the pose form incremental segments • Streamlining of the tracking software • Can choose the next frame to process basing on the “best” in the buffer

  4. Strategy proposed in Athens • Increment the statistical reliability of the tracking by means of a complementarity approach: • Each of the techniques can benefit from partial inputs of the others, in particular of the faster on the slower: • IMUWRMVisual Tracking • Object detection and camera pose determination are not necessarily coincident, being the latter needed more frequently than the former • Where the pose determination is poor or delayed with a technique, there is a probability to succeed with another one e.g.: • Interpolating the VT with the IMU or with the incremental segments • Use the segments to make a trained regression directly in the parametric space

  5. Focus 1 – fast camera and image transmission • What if we are able to pre process the frames in real time, whatever the frame rate? • Use a faster camera  sharper frames • Buffer the frames • Score the frames • The slower processes such as the object detection will compute only the best scored ones • The others used as incremental segment pose interpolation • Software framework to be modified adding a buffer  shortly after TC server xPCI Frame grabber/ FPGA Computer memory Visual tracking WRM prototype Sensor fusion server 4 fps Visual tracking 30 fps WRM prototype xPCI Frame grabber/ FPGA Computer memory Sensor fusion s5 s4 s1 s2 s3 f5 f4 f1 f2 f3

  6. Focus-2 WRM final implementation • Due to TC deadline and delays in the readout development we emulated the WRM on FPGA at low level. • No substantial performance limitation by exploiting a very smart WRM approximation (valid only for this simple and semi digital WRM version) • In this very special case a top level FPGA can barely compete with a 20 years old WRM in a minimal implementation and with a >> power consumption • It is a perfect test bed • We will complete the WRM test system in Roma ASAP • The FPGA based emulator will stay at CERN to permit further testing

  7. Focus 3 - improved tracking • Implement as much as possible the Athens meeting strategy: • Tracking algorithm served on request with the best frame and segment set in the buffer • See the effect of using a faster camera within the max. WRM speed (by now >80 fps) • Early interpolated pose boosted by IMU predictions • Early interpolated pose boosted by incremental segments from WRM • Study a soft trained regression algorithm, using the parametric representation of the segments and of the searched object, to determine a pose, as a complement to the corner detection

  8. Next developments (for future applications) • Testing Campaign is just a checkpoint of the current progress, we expect to continue just after: • The point addressed in the focuses can be still considered part of EDUSAFE • Next the WRM setup will be made independent from the server toward a stand alone miniaturized component setup • ASIC will replace the FPGA (mid term) • New more efficient WRM chip (mid/long term) • What above is BEYOND EDUSAFE and needs relevant extra funds…

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