GCAPS Status ReportGCAPS Status Report

Ryan WeissRyan Weiss

Nick HebnerNick Hebner

Kooper FramKooper Fram

General StatusGeneral Status

►PCA TestingPCA Testing Good recognition of landmark existenceGood recognition of landmark existence Need to experiment with sensitivity Need to experiment with sensitivity

threshold, number of dimensions, number threshold, number of dimensions, number of training images, camera settings, of training images, camera settings, separate eigenspaces, averaging over separate eigenspaces, averaging over timetime

► IMU TestingIMU Testing Position driftingPosition drifting Bias compensationBias compensation Noise filteringNoise filtering

ScheduleSchedule

PCA Live Environment PCA Live Environment TestingTesting

► Increasing size of image setIncreasing size of image set Improves pose estimationImproves pose estimation Little impact on object recognition Little impact on object recognition

accuracyaccuracy More sensitive to position of object that More sensitive to position of object that

appearance of individual landmarkappearance of individual landmark

►Decreasing image brightnessDecreasing image brightness Slight improvement in object recognitionSlight improvement in object recognition Details of surroundings increase Details of surroundings increase

uniqueness of imagesuniqueness of images

Landmark InformationLandmark Information

► Simple tool to associate info with landmark objectSimple tool to associate info with landmark object OpenGL or OpenCV utilityOpenGL or OpenCV utility Associates position/orientation with manifold pointAssociates position/orientation with manifold point Automatic information generation based on minimal Automatic information generation based on minimal

manual inputmanual input Computes world coordinates from pixel coordinatesComputes world coordinates from pixel coordinates

A

IMU TestingIMU Testing

►AccelerationAcceleration

►VelocityVelocity

►PositionPosition

Other Status UpdatesOther Status Updates

►ProcurementProcurement Golf-cart on order – will stay with cart for Golf-cart on order – will stay with cart for

test and demotest and demo Otherwise, completeOtherwise, complete