Department of Electrical & Computer Engineering Team Hollot By: Cory Brett Jonathan Katon Thomas...
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Department of Electrical & Computer Engineering Team Hollot By: Cory Brett Jonathan Katon Thomas Pavlu Haiyan Xu NavFocus Midway Design Review
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Transcript of Department of Electrical & Computer Engineering Team Hollot By: Cory Brett Jonathan Katon Thomas...
Department of Electrical & Computer Engineering
Team Hollot
By:Cory Brett
Jonathan KatonThomas Pavlu
Haiyan Xu
NavFocusMidway Design Review
2Department of Electrical and Computer Engineering
Outline
PDR Recap Individual Systems
• Status Reviews• Demonstrations• Design Challenges
Gantt Chart CDR Deliverables / Work Assignments Cost Breakdown
3Department 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
4Department of Electrical and Computer Engineering
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
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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
10Department 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 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
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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
15Department of Electrical and Computer Engineering
Cost Breakdown
Part Cost
Touch Screen $80
GPS Module $80
Camera $50
Hard Drive $20
Beagle Board $150
Total Cost $380
16Department of Electrical and Computer Engineering
Questions?
