Department of Electrical & Computer Engineering

Team HollotBy:

Cory BrettJonathan KatonThomas Pavlu

Haiyan Xu

NavFocusMidway Design Review

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Outline PDR Recap Individual Systems

• Status Reviews• Demonstrations• Design Challenges

Gantt Chart CDR Deliverables / Work Assignments Cost Breakdown

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PDR Recap Last time, we discussed:

• Motivations, problem statement, solution• Preliminary design implementation• Anticipated design challenges • MDR deliverables• Cost breakdown

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PDR Recap

NavFocus

Mapping and

Routing

Control Unit

Camera

Road Tracking

Overlay Renderer

GPS Module

User Interfac

e

Video Output

User

5Department 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 Outpu

t

User

6Department 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 Outpu

t

User

7Department 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 Outpu

t

User

8Department 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 Outpu

t

User

9Department of Electrical and Computer Engineering

Time to Turn (seconds)

Percentage Overlap of Cues

on Turn (%)

Heading Accuracy

14 5% 0%12 10% 5%10 20% 10%8 40% 15%6 80% 30%4 90% 60%2 95% 75%0 100% 80%

NavFocus

Mapping and Routing

Control Unit

Camera

Road Tracking

Overlay Renderer

GPS Module

User Interface

Video Outpu

t

User

Image Overlay Renderer

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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 Outpu

t

User

11Department 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

12Department 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 Outpu

t

User

13Department 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

14Department 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

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Cost Breakdown

Part Cost

Touch Screen $80GPS Module $80

Camera $50Hard Drive $20

Beagle Board $150Total Cost $380

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Questions?