MAV Optical Navigation Update October 5, 2011 Adrian Fletcher, Jacob Schreiver, Justin Clark, & Nathan Armentrout

Agenda Progress Goals Questions Refined High Level Algorithm Flowchart Lots of Research Goals Questions

Progress – Refined High Level Algorithm Scan for landmark candidates Define a landmark Make 3D map Plan a path Follow path

Progress – Lots of Research Adrian is in the progress of reverse- engineering OpenTLD, Lucas-Kanade tracker Jacob has been working on the object recognition Involves SURF Both combined to make the full tracker Nathan began research on 3D mapping Justin researched JavaCV ObjectFinder

Goals Image Processing Documentation Finish Lucas-Kanade portion of tracker Integrate tracker with object recognition Determine egomotion of camera Begin machine learning for tracking Documentation Improve SyRS Begin SDS

Questions for Dr. Lauf Do you have a particular static, closed environment in mind? Boxes? No boxes? Should someone be defining this?