Tracking Migratory Birds Around Large Structures Design Status - Arik Brooks and Nicholas Patrick

1. Tracking Migratory BirdsAround Large Structures • Design Status - • Arik Brooks and Nicholas Patrick • Senior Design Project 2003-2004Bradley UniversityDepartment of Electrical and Computer Engineering

2. Outline • Project summary • Brief functional description • System block diagram • Original proposed schedule • Tasks completed • Tasks remaining • Revised schedule/Plan of Action

3. Brief Functional Description • The purpose of this project is to implement a system to track the flight paths of birds in real-time via stereoscopic imaging. • The desired system output is a display depicting a 3-D representation of the trajectories of the birds, and data relating to the trajectories.

4. System Block Diagram

5. Hardware Block Diagram

6. Original Proposed Schedule

7. Week beginning Task Assigned to 1/22 Research/Develop algorithms to improve tracking and correlation Determine final output to the user and layout of the user interface Both 1/29 Implement final preprocessing code in C++ Implement improved algorithms in MATLAB for testing Nick Arik 2/5 Continued Both 2/12 Continued Both 2/19 Integrate new cameras to system Port MATLAB to C++ Nick Arik 2/26 Develop Graphical User Interface for system and continue other software development Both Original Proposed Schedule

8. Original Proposed Schedule

9. Tasks Completed

10. Streamlined Preprocessing in C++ • Implement faster centroid location code. • Improve background subtraction algorithm to increase speed.

11. Streamlined Preprocessing in C++ • Improve background subtraction algorithm: • Fixed weight for current image against stored background • Stored background is 8 bit image data with 8 extra bits for accumulating round-off error • Changed multiplication and division to shift operations to increase speed

12. Streamlined Preprocessing in C++ • Improve background subtraction algorithm: • Speed Improvements (640x480, threshold image, do not find objects) • Old -- 10.6 Frames per Second • New – 15.9 Frames per Second • Updating average every 60 frames • Without find object function -- 24 Frames per Second • With find object function -- 18 Frames per Second

13. Trajectory Determination in MATLAB • Rewrote (and restructured) code to correlate objects between 2 cameras and over time to add predictive searching and improved tracking ability

14. Trajectory Determination in MATLAB New Structure: • Read in x-y pixel locations of objects found in preprocessing • Find all possible locations in space from the given pixel locations • Search for additional points in stored trajectories using predictive searching • Search for new trajectories to store • Plot trajectories in four views (perspective, top, front, and side) • Output statistics about data (max velocity, min distance, etc.)

15. Trajectory Plot Max Velocity: 3.39 [m/s] Max Dist from 0: 2.0325 [m] Min Dist from 0: 0.7861 [m] Output Plot:

16. Trajectory Determination in MATLAB • Predictive Search Method • Search for a new point within a sphere defined by: • Center at the location (x,y,z) predicted by the previous two points in the trajectory and the time taken between frame-grabs • Radius determined by average bird velocity, time between frames, current velocity, and distance from the cameras

17. Camera Placement and Resolution Requirements

18. Camera Placement and Resolution Requirements

19. Average bird size • The average migratory bird is approximated as a 6-inch diameter (15.24 cm) sphere based on information obtained from the Patuxent Wildlife Research Center • The cameras (at 640x480 res) can see 4.6875 cm/pixel at a distance of 50 meters • An “average size” bird will illuminate less than ≈ 9 pixels

20. Average bird speed • The average migratory bird velocity is assumed to be 20mph (8.9409 m/s) based on information from the Northern Prairie Wildlife Research Center

21. Tasks Remaining

22. Test Plan • There will be three primary test procedures that will be performed to verify the system specifications: • Location Accuracy • track an AMBS object in known trajectories (including trajectories proceeding primarily towards and away from the cameras) and compare the measured and actual locations • Max/Min Distance from Cameras • track an AMBS object in known trajectories and check accuracy/ability to track • Max # Objects • TBD

23. Test Setup • Location Accuracy • Place tubes for balls to drop through in controlled trajectories. Compare theoretical to experimental. • Max/Min Distance from Cameras • Repeat ‘Location Accuracy’ experiment at extremes of range. • Max # Objects • Nerf Guns!!!

24. Integration of Code for Stream-lined Operation • Code required to save information only when objects appear on the screen. • Transmission/reception of object location data between processing computers. • Integrate preprocessing program with trajectory calculation program for continuous operation.

25. Develop GUI • User interface for preprocessing computer • Graphical display of information and results (including trajectory plots and statistics) on processing computer

26. Revised Schedule

27. Tracking Migratory BirdsAround Large Structures Any questions?