Tracking The Trajectories of Migrating Birds

Transcription

1 Tracking The Trajectories of Migrating Birds Brian Crombie Matt Zivne 1. Summar 2. Patents 3. Standards 4. I/O Outline. Modes of Operation 6. Block Diagram 7. Parts List 1

2 Outline 8. Software Flowcharts 9. Design Equations.Computer Simulation Results 11.Schedule of Tasks 12.Datasheet 13.Bibliograph Summar The goal of this project is to develop a sstem to calculate, store, and displa trajectories of birds fling within meters of a skscraper. Birds are identified and their position found through stereoscopic imaging. 2

3 Summar The sstem displas bird trajectories in three dimensions and provides a confidence indicator for each trajector. Patents 6,366,691 Stereoscopic image processing apparatus and method 6,28,94 Method and apparatus for threedimensional position measurement 3

4 Patents 6,3,67 Apparatus for tracking objects in video sequences and methods therefor,812,269 Triangulation-based 3-D imaging and processing method and sstem Standards NTSC North American Standard Appro. 3 Frames/Second Interlaced VSYNC pulse to indicate start of frame Can be used to verif that frames are captured simultaneousl Camera Output and Frame Grabber Input must conform to NTSC standard 4

5 Standards DirectX De facto standard for multimedia input and output in Microsoft Windows Includes interface to video input devices such as frame grabbers Provides maimum isolation from hardware implementation (as opposed to proprietar API) Standards DirectX Provides Both Low Level (Immediate Mode) and High Level (Retained Mode) 3D APIs (Direct3D). Isolates details of 3D graphics programming Uses hardware acceleration if available

6 Functional Description: I/O Inputs Photons User->Mode User->Camera Pan Outputs Camera Pan Real Time Camera Images 3D Trajector Images Trajector Data Confidence Indicator Functional Description: Modes of Operation Setup Occurs when the sstem is initialied. Allows sstem parameters to be adjusted b the user Monitoring Processes the input from the cameras to detect movement of birds. Once birds have been detected the sstem enters Data Acquisition mode. 6

7 Functional Description: Modes of Operation Data Acquisition Calculates and stores the trajectories of birds fling through the field of view of the camera. Trajectories are acquired until no birds have been detected for five minutes. Then the sstem re-enters monitoring mode. Data Reduction and Displa Displas the trajectories of tracked birds in 3-D. Operates on either real time or stored data Displas a confidence indicator for each trajector. Functional Description: Block Diagram Sstem Level Power Photons Stepper Motor Boom Camera 1 Encoder Stepper Motor Ctrl Image 1 PC Camera Displas Data Reduction Displa Boom Angle Displa Photons Camera 2 Image 2 Raw Data File 7

8 Functional Description: Block Diagram Camera Subsstem Photons Camera Image to PC Functional Description: Block Diagram Boom Subsstem Power Stepper Motor Encoder to PC Stepper Motor Ctrl from PC Boom 8

9 Functional Description: Block Diagram PC Subsstem Encoder from Boom Stepper Motor Ctrl to Boom Image from Camera 1 PC Camera Displas to User Data Reduction Displa to User Image from Camera 2 Boom Angle Displa to User Raw Data File to Disk Parts List Low Light Hitachi KP-2GN Min. Illumination.2 lu Price: $8 each plus lenses Lab Sano VCB-3444 $12 each from Newark Electronics Rainbow L8DC4P Auto Iris Lens $77.9 each from Newark Electronics 9

10 Parts List Frame Grabber Data Translation DT3132 dual frame grabber Supports simultaneous acquisition from 2 sources (inputs not multipleed) Programmed through DirectX or Roaltfree proprietar API $8 from manufacturer Parts List PC The PC must run Windows 2 or greater DirectX 8.1 must be installed One free PCI slot for Frame Grabber Processor speed high enough to calculate all trajectories from acquired images within 1/3 th of a second, if possible. For development the DirectX 8.1 SDK (free) and Microsoft Visual Studio 6. are required.

11 Software Flowcharts Setup Mode Flow Chart Obtain sstem initialiation parameters from user including camera position input Is user input valid? No Yes Go to Monitoring Mode 11

12 Monitoring Mode Flow Chart Obtain Images from No Identif moving objects Is movement shown in images? Yes Increment number of frames with movement Monitoring Mode Flow Chart (cont d) Go to start of Monitoring Mode No Have moving birds been detected for a specified number of frames? Yes Enter Data Acquisition Mode 12

13 Data Acquisition Mode Flow Chart Obtain Images from Identif moving objects No Is movement shown in images? No Has number of frames allowed with no moving objects found been eceeded? Yes Go to Monitoring Mode Yes Data Acquisition Mode Flow Chart (cont d) Correlate objects in images and generate confidence indicator Calculate positions of objects Correlate objects from previous pair of images with current pair of images Update trajectories Store data 13

14 Data Reduction Mode Flow Chart Read stored or real-time data Displa 3-D trajectories and confidence indicator Is there user input to change the 3- D point of view? Yes Change 3-D point of view Data Reduction Mode Flow Chart (cont d) Go to start of Data Reduction Mode No Is data in real time? Yes Generate dela to control frame rate 14

15 Design Equations Equations to calculate the 3D position of an object in Cartesian coordinates using locations of the object in two cameras Setup of Sstem to Ensure Validit of Design Equations X Z Y 1

16 Design Equations X D * d X = X X D U (Eq. 1) YD * d Y = X X D U (Eq. 2) d * f Z = X D X U (Eq. 3) Computer Simulation Verifies the design equations 16

17 Trajector of Object in 3D Trajector of Object in 3D

18 Trajector of Object in 3D Trajector of Object in 3D

19 Trajector of Object in 3D Trajector of Object in 3D

20 Trajector of Object in 3D Trajector of Object in 3D

21 Trajector of Object in 3D Trajector of Object in 3D

22 Trajector of Object in 3D Trajector of Object in 3D

23 Trajector of Object in 3D Trajector of Object in 3D

24 Trajector of Object in 3D Trajector of Object in 3D

25 Schedule of Tasks Week Task beginning 1/19 Write code that captures images 1, write code that determines if there are moving objects in the images 2, interface cameras with PC 1 1/26 Same as above, and write code that correlates images 2/2 Same as above, and test code using tennis balls instead of birds 2/9 Continue testing code, make necessar changes to code 2/16 Write code that calculates the trajectories of objects Assigned to: 1 Brian 2 Matt Brian Both Both Both Schedule of Tasks (cont d) 2/23 Same as above 3/2 Write code that controls Matt stepper motor 3/9 Same as above, and attach Both cameras and stepper motor to boom 3/16 Create graphical user interface Both for sstem 3/23 Test sstem with actual birds Both as data 3/3 Same as above, and make an Both necessar changes to project 4/6 Same as above Both 4/13 Same as above Both 4/2 Same as above Both 2

26 Schedule of Tasks (cont d) 4/27 Prepare for oral presentation, Both write final project report /4 Same as above Both /11 Give oral presentation, turn in final project report Both Datasheet Maimum Number of Objects Tracked Simultaneousl Resolution in Space: Resolution in Space is dependent on the distance of the object from the camera. The formula for calculating the resolution at a given distance is given below: 26

27 Datasheet X Resolution: 1.2*Z m/piel Y Resolution: 1.3*Z m/piel Z Resolution:.619*d m/piel-4d m/piel (dependent on X) Datasheet Frame Rate: 3fps Resolution of boom rotation: degrees (128 steps) Total volume of space observed: 2867d 3 ( m 3) 27

28 Bibliograph Pinhole camera model, image processing reference. Equations relating focal length to oom EE48/lecturenotes/week Stereoscopic imaging equations Bibliograph Light levels for various time of da and weather conditions. software_genlock.asp Estimating position when snchronied cameras are not available. Using line lock cameras. 28

29 Bibliograph t2a.asp Equation relating focal length to target object sie, distance, and CCD width. cohu.pdf Measurements for various CCD sies. 29