1. MAV Optical Navigation
Update October 21, 2011
Adrian Fletcher, Jacob Schreiver, Justin Clark, & Nathan Armentrout

2. Agenda
Progress
Demonstrations
Changes to Plan
Goals
Questions

3. 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

4. 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

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

6. 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

7. 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

8. 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

9. Questions
Can Dr. Lauf attend the midterm presentation for ECE capstone projects on 11:00am-11:50am?
We present at 11:25am.