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Long-range Tracking Progress Summary

Long-range Tracking Progress Summary. Michael D. Vaughan IRIS Lab 10 May 2011. Introduction. Prior work Short-range Scene Mosaics Generated from Automated PTZ Scans Visual Monitoring and Scene Inspection System Design and Testing Recent work Software development Data Acquisition

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Long-range Tracking Progress Summary

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  1. Long-range TrackingProgress Summary Michael D. Vaughan IRIS Lab 10 May 2011

  2. Introduction • Prior work • Short-range Scene Mosaics Generated from Automated PTZ Scans • Visual Monitoring and Scene Inspection • System Design and Testing • Recent work • Software development • Data Acquisition • Communications Error Isolation • Current work • Region of Interest (ROI) • Future work

  3. Current Testing Setup

  4. Software Development • HSV Thresholding for Laser identification • Image processing time per frame ~43ms • Adding motor communication time comes to ~77ms per frame (total) • Moving communication to a separate thread

  5. Data Acquisition

  6. Data Transfer Time • Tests conducted using SmartMotor Interface (SMI) version 2.41. Timings were obtained using a manual stopwatch.

  7. Data Transfer Time • Time A includes the full addressing time • Time B is just the addressing time of the first 3 motors • Time per motor is calculated using the Time B data with 3 motors • Best time is 1.03s per motor at 38.4kBaud

  8. Frame Processing Time • Data acquired using the clock() function inline with each code segment • Total time 68ms • Sequential processing includes all processing steps one after another

  9. Frame Processing Time • Data acquired using the clock() function inline with each code segment • Total time 52ms • Threaded processing separates the communications into its own thread

  10. Threaded Processing • Enhancements • 24% improvement in processing speed per frame • Framerate no longer changes when target is acquired • Issues • Each subsequent frame is acquired as the previous move is in motion • Currently no synchronization between frame acquisition and motor motion. As the processing time of the OpenCV portion is improved this must be implemented

  11. Processing Flow 52ms 21ms 52ms 21ms 52ms

  12. Motor Communications • Data collected from the communications thread • Average time is 21ms • A move is not complete until an echo is received • Set to maximum rate of 38.4kbps Frequency (counts) Time (ms)

  13. Video Writing • Data collected from the video writer thread • Average write time is 31ms per frame • Much larger variance than the motor communication • Compression is a nonlinear operation Frequency (counts) Time (ms)

  14. Release Mode • In Release Mode, no Debugging statements are included in the executable • Less time to run • Less access to internal information • Framerate increases to 60-80fps • Since the KWorld device is reported to only be capable of 30fps, the reported framerate must be invalid • Repeated frames when new frame is requested • Timing mechanism I use could be off • Would not account for such a high difference • Each frame should be processed in 33ms

  15. Release Mode • 60-80fps gives a processing time of 12-16ms • When frames are being processed this quickly, communications errors are introduced • Communications thread is protected by a critical section • Controls access to the position variable • Controls spawning of new threads • Discovered an issue which could be causing the errors • Currently having trouble homing the motors

  16. Communications Error Isolation • Working with Animatics Software Engineer • Two communications errors come up consistently • Syntax error • Occurs at program startup, most likely due to terminating control of internal program when shifting to tracking control • Invalid ECHO response error • Occurs sporadically while running in the tracking portion of code, high correlation with framerate • Some progress has been made and alternate tests run in order to eliminate the errors

  17. Current Tasks • Solving Communications Issues • Continue work with Engineer from Animatics • Test the viability of using RS485 • Fully parallel communications • No echo sent to host, half as much traffic • Make use of Region-of-Interest (ROI) • Cuts down on processing time since only an area around where the laser is or is expected to be will be analyzed • Smaller sections could be further refined and sent to a 3D reconstruction module

  18. Current Tasks • Papers • Literature Review • Target acquisition methods • Tracking for human detection and recognition • Pan-Tilt / PTZ control methods • Uncalibrated 3D reconstruction • Publishing • Sensor Review Journal • System setup and integration of various equipment and libraries • Collaboration with Chung-Hao, Hari, Muharrem • Surveillance, 3D reconstruction, data fusion, super-resolution

  19. Future Work • Implementation of tracking algorithms • Target Segmentation • Object recognition • Predictive tracking • Modifying code to make use of GPU • Many functions already ported to make use of GPU but currently in Beta. New version of OpenCV due in May • Data capture & analysis • Test tracking at various distances • License plate acquisition • Face detection and tracking

  20. Questions?

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