MAV Optical Navigation Update November 9, 2011 Adrian Fletcher, Jacob Schreiver, Justin Clark, & Nathan Armentrout

Agenda Progress Goals Questions

Progress Machine Learning Performed on “Static” video 3D Reconstruction research Image rectification Example statue pictures Fundamental matrix calculation Camera calibration SDS Started

Machine Learning Learning Using Haar Like Features and “Camshift” Histogram Neuorph No Longer is Use Lots of Bugs Very Slow Training Times Interfaced with Weka Machine Learning/Data Mining Tool Large Amount of Classifiers Neural Networks Decision Trees

Machine Learning Performed Learning of Object “Static” Video Feed Tested using Several Classifiers J48 Decision Trees Random Forest ANN Performed Search for Object Sample Frame with a moving window Search Entire Frame for Best Match Tested using two Classifiers

Demos Demo List Object Learning Object Finding J478 Tree Random Forest ANN Object Finding

Goals Initial machine learning & Lucas-Kanade integration Improved image rectification & 3D reprojection Camera calibration Dijkstra path planning SDS baseline complete up to current work

Questions What is Dr. Peters’ phone number?