1. Project # 12 – Smart Walker REU student: Christopher Feltner Graduate mentors: Sharare Zethabian and Siavash Khodadadeh Faculty mentor(s): Dr. Turgut and Dr. Bölöni
Week 4 (June 4 – June 8, 2018)
Accomplishments:
Created a function to average depth values across the center of an image while negating error state values, creating a less noisy 1-D NumPy array of distance values
Created a function to create a piecewise linear segmentation of distance values in order to differentiate regions of floor space from obstacle space
Developed a method to identify obstacle distance
Problems & Solutions:
Had an issue where accumulated error over large regions of curvature would improperly indicate segmentation
Solution: Added a “window” to segmentation function which only considers points in a given range in calculations of standard error
Areas of floor space are not represented linearly. They are actually represented as a quadratic. This is a quirk of the Kinect camera
Algorithm sometimes has issues when an object is directly in front of the camera and is very close
Plans for next week:
Fix distance function
Identify a solution to the problem of nonlinearity in floor space representation
Testing!
NSF REU Research Experience on Internet of Things 2018

2. Project # 12 – Smart Walker REU student: Christopher Feltner Graduate mentors: Sharare Zethabian and Siavash Khodadadeh Faculty mentor(s): Dr. Turgut and Dr. Bölöni
Figure 1: A depth image with the average function being applied
NSF REU Research Experience on Internet of Things 2018

3. Project # 12 – Smart Walker REU student: Christopher Feltner Graduate mentors: Sharare Zethabian and Siavash Khodadadeh Faculty mentor(s): Dr. Turgut and Dr. Bölöni
Index 0
Distance value (mm)
Array index (top is 0)
Index 480
Figure 2: The plotted values of the array of averaged depth image values (left) and the original depth image with indices shown (right)
NSF REU Research Experience on Internet of Things 2018

4. Figure 3: Plot with segmentation shown
Project # 12 – Smart Walker REU student: Christopher Feltner Graduate mentors: Sharare Zethabian and Siavash Khodadadeh Faculty mentor(s): Dr. Turgut and Dr. Bölöni
Distance value (mm)
Array index (top is 0)
Figure 3: Plot with segmentation shown
NSF REU Research Experience on Internet of Things 2018

5. Project # 12 – Smart Walker REU student: Christopher Feltner Graduate mentors: Sharare Zethabian and Siavash Khodadadeh Faculty mentor(s): Dr. Turgut and Dr. Bölöni
Distance value (mm)
Array index (top is 0)
Figure 3: Plot with segmentation shown and regions of interest highlighted
NSF REU Research Experience on Internet of Things 2018

6. Project # 12 – Smart Walker REU student: Christopher Feltner Graduate mentors: Sharare Zethabian and Siavash Khodadadeh Faculty mentor(s): Dr. Turgut and Dr. Bölöni
Figure 3: Depth image of obstacle (left) and its segmented center array graphed (right)
NSF REU Research Experience on Internet of Things 2018

7. Figure 3: Graph with areas of interest highlighted
Project # 12 – Smart Walker REU student: Christopher Feltner Graduate mentors: Sharare Zethabian and Siavash Khodadadeh Faculty mentor(s): Dr. Turgut and Dr. Bölöni
Closest point
Figure 3: Graph with areas of interest highlighted
NSF REU Research Experience on Internet of Things 2018