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

2. Agenda
Progress
Goals
Questions

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

4. 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

5. 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

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

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

8. Questions
What is Dr. Peters’ phone number?