1. MAV Optical Navigation
Update November 2, 2011
Adrian Fletcher, Jacob Schreiver, Justin Clark, & Nathan Armentrout

2. Agenda
Progress
Goals
Questions

3. Progress Met with Mike Miller & CVIP Lab students
Received three leads
David Forsyth: wrote a textbook w/ 3D Recon.
Tsai & Shah: updated algorithm vs. Bruss & Horn
“Intrinsic images”: no idea what this means yet
Further clues to be shared later
Began ANN Testing using Haar Features

4. Machine Learning Progress
Downloaded Neuroph
Java Neural Network Framework
Got Samples Working
Trained XOR Gate with Multilayer Perceptron (MLP)
Haar Feature Detection
Vertical
Horizontal
Created Simple MLP for Haar Features

5. Machine Learning Progress
Created Simple MLP to distinguish between two different classes using Haar Features
4 sample images
4 Sub regions per image with two classifiers each ,
, 52.48 , ,

6. Machine Learning Progress
Test Input
Two Classes
Class: -1
Class: 1

7. Machine Learning Progress
Test Output
Two Classes
Class:
Class: 0.985
Class:
Class: 0.985

8. Machine Learning TODO Fix Bug with ROI and Haar Features
Improve Haar Feature Speed
Create Test for Training with “static” Video
Test to determine optimal sub region division
Finish Sampler
Create Learning Threads
Integrate with Lucas Kanade
Create Occlusion Recovery Algorithm

9. Goals Research leads provided by CVIP Lab
Documentation: Start SDS Baseline
ANN Demo

10. Questions
Do you have any advice on 3D reconstruction?