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Optical Navigation Update October 21, 2011

Update on progress, demonstrations, changes to plan, goals, and questions for the optical navigation project. Includes improvements in tracking algorithms, object recognition, and camera calibration rig. Research issues with machine learning algorithms and work towards 3D mapping.

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Optical Navigation Update October 21, 2011

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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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