1. Implementing Localization
- Software Progress

2. Overview Summary of previous work
Prior problems that have been resolved
Current work
GUI

3. Localization using the ARToolkit
ARToolkit uses pattern recognition with a set of pre-trained makers for target recognition and pose estimation
Markers must be asymmetric to make the detection of orientation possible
Marker should have thick, easily visible features.

4. ARToolkit details
The ARToolkit provides relatively reliable 3d coordinates between the camera and the target:
Horizontal Translation
Vertical Translation
Distance from camera
Numerical id indicating which target has been detected

5. Previous Programming Challenges
Problems with the integration of new C++ code and the existing ARToolkit have been overcome.
Disabling the real-time display of video at the client alleviates the random segmentation faults.

6. Current Work - Software
Development of software that is flexible enough to work in either the client/server model, or the distributed processing model.
The socket library is class based and multi- threaded.
Starting the software immediately creates a listening server, and then allows for new outgoing connections. This allows all mobile sensor platforms to communicate directly which each other, and the controlling server.

7. Current Work - Software(cont.)
The ARToolkit software has been wrapped into a C++ class with its own thread to facilitate more precise control.
The ARToolkit starts up in a sleeping state and will not begin to capture and process images until it is told to do so.
The ARToolkit will optionally send an image back to the controlling server to make it easy for the user to understand what is happening.

8. Current Work - Software(cont.)
The controlling server will take care of monitoring the status of each MSP.
The server (as well as all MSPs) maintains various information about each client.
To make monitoring of the system easier I have decided to develop a GUI. This makes it much easier to issue commands to each client, and can hopefully be extended to visualize the location of each MSP.

9. Current Work - GUI

10. Questions?

11. Thank You