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 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

Demonstrations Lucas-Kanade Tracker CamShift 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

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

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

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

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

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.