MAV Optical Navigation Update November 2, 2011 Adrian Fletcher, Jacob Schreiver, Justin Clark, & Nathan Armentrout

Agenda Progress Goals Questions

Progress Met with Mike Miller & CVIP Lab students Received three leads David Forsyth: wrote a textbook w/ 3D Recon. Tsai & Shah: updated algorithm vs. Bruss & Horn “Intrinsic images”: no idea what this means yet Further clues to be shared later Began ANN Testing using Haar Features

Machine Learning Progress Downloaded Neuroph Java Neural Network Framework Got Samples Working Trained XOR Gate with Multilayer Perceptron (MLP) Haar Feature Detection Vertical Horizontal Created Simple MLP for Haar Features

Machine Learning Progress Created Simple MLP to distinguish between two different classes using Haar Features 4 sample images 4 Sub regions per image with two classifiers each 11.9756, 25.3708 -21.1232, 52.48 11.5024, 17.7632 -19.352, 25.7808

Machine Learning Progress Test Input Two Classes Class: -1 Class: 1

Machine Learning Progress Test Output Two Classes Class: -0.896 Class: 0.985 Class: -0.896 Class: 0.985

Machine Learning TODO Fix Bug with ROI and Haar Features Improve Haar Feature Speed Create Test for Training with “static” Video Test to determine optimal sub region division Finish Sampler Create Learning Threads Integrate with Lucas Kanade Create Occlusion Recovery Algorithm

Goals Research leads provided by CVIP Lab Documentation: Start SDS Baseline ANN Demo

Questions Do you have any advice on 3D reconstruction?