GCAPS Status Report Ryan Weiss Nick Hebner Kooper Fram

General Status PCA Testing PCA Testing Good recognition of landmark existence Good recognition of landmark existence Need to experiment with sensitivity threshold, number of dimensions, number of training images, camera settings, separate eigenspaces, averaging over time Need to experiment with sensitivity threshold, number of dimensions, number of training images, camera settings, separate eigenspaces, averaging over time IMU Testing IMU Testing Position drifting Position drifting Bias compensation Bias compensation Noise filtering Noise filtering

Schedule

PCA Live Environment Testing Increasing size of image set Increasing size of image set Improves pose estimation Improves pose estimation Little impact on object recognition accuracy Little impact on object recognition accuracy More sensitive to position of object that appearance of individual landmark More sensitive to position of object that appearance of individual landmark Decreasing image brightness Decreasing image brightness Slight improvement in object recognition Slight improvement in object recognition Details of surroundings increase uniqueness of images Details of surroundings increase uniqueness of images

Landmark Information Simple tool to associate info with landmark object Simple tool to associate info with landmark object OpenGL or OpenCV utility OpenGL or OpenCV utility Associates position/orientation with manifold point Associates position/orientation with manifold point Automatic information generation based on minimal manual input Automatic information generation based on minimal manual input Computes world coordinates from pixel coordinates Computes world coordinates from pixel coordinates A

IMU Testing Acceleration Acceleration Velocity Velocity Position Position

Other Status Updates Procurement Procurement Golf-cart on order – will stay with cart for test and demo Golf-cart on order – will stay with cart for test and demo Otherwise, complete Otherwise, complete