1. Department of Electrical & Computer Engineering Team Hollot By: Cory Brett Jonathan Katon Thomas Pavlu Haiyan Xu NavFocus Midway Design Review

2. 2 Department of Electrical and Computer Engineering Outline  PDR Recap  Individual Systems Status Reviews Demonstrations Design Challenges  Gantt Chart  CDR Deliverables / Work Assignments  Cost Breakdown

3. 3 Department of Electrical and Computer Engineering PDR Recap  Last time, we discussed: Motivations, problem statement, solution Preliminary design implementation Anticipated design challenges MDR deliverables Cost breakdown

4. 4 Department of Electrical and Computer Engineering PDR Recap NavFocus Mapping and Routing Control Unit Camera Road Tracking Overlay Renderer GPS Module User Interface Video Output User

5. 5 Department of Electrical and Computer Engineering Mapping and Routing  Status Able to set destination via Town: Street input from the command line Send metrics to Overlay Rendering on position updates Distance from the next node Direction of the upcoming turn Speed at which the vehicle is traveling NavFocus Mapping and Routing Control Unit Camera Road Tracking Overlay Renderer GPS Module User Interface Video Output User

6. 6 Department of Electrical and Computer Engineering Mapping and Routing  Navit Makes use of Multi-Threaded Plugins GPS Interrupts and fires a Callback which notifies the execute a navigation update. Example Plugins Navigation Speech Tracking NavFocus Mapping and Routing Control Unit Camera Road Tracking Overlay Renderer GPS Module User Interface Video Output User

7. 7 Department of Electrical and Computer Engineering Mapping and Routing  Navit - Modifications Added a plugin to serve as a listener for user input string input of there desired destination Added a navigation callback which will be fired upon receiving GPS updates. NavFocus Mapping and Routing Control Unit Camera Road Tracking Overlay Renderer GPS Module User Interface Video Output User

8. 8 Department of Electrical and Computer Engineering Image Overlay Renderer  Modifications to image overlay based on suggestions from review board Original NavFocus Projection Concept Modified NavFocus Projection Concept NavFocus Mapping and Routing Control Unit Camera Road Tracking Overlay Renderer GPS Module User Interface Video Output User

9. 9 Department of Electrical and Computer Engineering Time to Turn (seconds) Percentage Overlap of Cues on Turn (%) Heading Accuracy 145%0% 1210%5% 1020%10% 840%15% 680%30% 490%60% 295%75% 0100%80% NavFocus Mapping and Routing Control Unit Camera Road Tracking Overlay Renderer GPS Module User Interface Video Output User Image Overlay Renderer

10. 10 Department of Electrical and Computer Engineering Image Overlay Renderer  Tools used to dynamically build images ImageMagick MagickWand OpenCV NavFocus Mapping and Routing Control Unit Camera Road Tracking Overlay Renderer GPS Module User Interface Video Output User

11. 11 Department of Electrical and Computer Engineering Mapping and Routing + Overlay Rendering  Challenges Encountered Understanding Navit’s control structure Modifying Navit’s Autotools Configuration to include outside sources  Challenges encountered Configuring Eclipse to include these external libraries

12. 12 Department of Electrical and Computer Engineering Road Tracking  Status Able to find the road in an initial frame of a video Can continuously find edges of a straight road and replay a video of the edges detected  Demo  Challenges Encountered Reading in a video into MATLAB Fundamental understanding of edge detection algorithms Adaptive filtering NavFocus Mapping and Routing Control Unit Camera Road Tracking Overlay Renderer GPS Module User Interface Video Output User

13. 13 Department of Electrical and Computer Engineering CDR Deliverables (Hand Out Gantt Chart)  Mapping and Routing(M&R) – TJ Integration - Mapping and Routing and Overlay Rendering Install Ubuntu on Beagle Board  User Interface/Control Unit – Haiyan Plan out User Interface design and order parts Understand how to configure Navit’s built-in touch screen GUI

14. 14 Department of Electrical and Computer Engineering CDR Deliverables (Hand Out Gantt Chart)  Road Tracking – Cory Implement road tracking for roads with curves and turns Handle live video  Overlay Rendering – Jon Integrate with Mapping and Routing and develop Route Input Analyzer algorithm Integrate Road Tracking output with Overlay Rendering

15. 15 Department of Electrical and Computer Engineering Cost Breakdown PartCost Touch Screen$80 GPS Module$80 Camera$50 Hard Drive$20 Beagle Board$150 Total Cost$380

16. 16 Department of Electrical and Computer Engineering Questions?