Tracking Migratory BirdsAround Large Structures

- Design Status -

Arik Brooks and Nicholas Patrick

Senior Design Project 2003-2004Bradley University

Department of Electrical and Computer Engineering

Outline

• Project summary– Brief functional description– System block diagram

• Original proposed schedule

• Tasks completed

• Tasks remaining

• Revised schedule/Plan of Action

Brief Functional Description

• The purpose of this project is to implement a system to track the flight paths of birds in real-time via stereoscopic imaging.

• The desired system output is a display depicting a 3-D representation of the trajectories of the birds, and data relating to the trajectories.

System Block Diagram

Hardware Block Diagram

Original Proposed Schedule

Week beginning Task Assigned to

1/22 Research/Develop algorithms to improve tracking and correlation

Determine final output to the user and layout of the user interface

Both

1/29 Implement final preprocessing code in C++Implement improved algorithms in MATLAB for

testing

NickArik

2/5 Continued Both

2/12 Continued Both

2/19 Integrate new cameras to systemPort MATLAB to C++

NickArik

2/26 Develop Graphical User Interface for system and continue other software development

Both

Original Proposed Schedule

BothDevelop Graphical User Interface for system and continue other software development

2/26

NickArik

Integrate new cameras to systemPort MATLAB to C++

2/19

BothContinued2/12

BothContinued2/5

NickArik

Implement final preprocessing code in C++Implement improved algorithms in MATLAB for

testing

1/29

BothResearch/Develop algorithms to improve tracking and correlation

Determine final output to the user and layout of the user interface

1/22

Assigned toTaskWeek beginning

Original Proposed Schedule

3/4 Continued Both

3/11 Test system in near real environment Both

3/18 Attend wet T-shirt contest in Cancun Both

3/25 Develop and implement final boom system and stepper motor

Both

4/1 Continued and create test plan and final specifications

Both

4/8 Test system Both

4/15 Continued and make any necessary changesPrepare for Expo presentation

Both

4/22 Prepare final report and presentation Both

5/6 Give presentation Both

Tasks Completed

Streamlined Preprocessing in C++

• Implement faster centroid location code.

• Improve background subtraction algorithm to increase speed.

Streamlined Preprocessing in C++

• Improve background subtraction algorithm:

– Fixed weight for current image against stored background

– Stored background is 8 bit image data with 8 extra bits for accumulating round-off error

– Changed multiplication and division to shift operations to increase speed

Streamlined Preprocessing in C++

• Improve background subtraction algorithm:

– Speed Improvements (640x480, threshold image, do not find objects)

• Old -- 10.6 Frames per Second

• New – 15.9 Frames per Second

– Updating average every 60 frames• Without find object function -- 24 Frames

per Second

• With find object function -- 18 Frames per Second

Trajectory Determination in MATLAB

• Rewrote (and restructured) code to correlate objects between 2 cameras and over time to add predictive searching and improved tracking ability

Trajectory Determination in MATLAB

New Structure:1. Read in x-y pixel locations of objects

found in preprocessing2. Find all possible locations in space

from the given pixel locations3. Search for additional points in stored

trajectories using predictive searching4. Search for new trajectories to store5. Plot trajectories in four views

(perspective, top, front, and side)6. Output statistics about data (max

velocity, min distance, etc.)

Trajectory Plot

Output Plot:

Max Velocity: 3.39 [m/s]

Max Dist from 0: 2.0325 [m]Min Dist from 0: 0.7861 [m]

Trajectory Determination in MATLAB

• Predictive Search Method– Search for a new point within a

sphere defined by:• Center at the location (x,y,z)

predicted by the previous two points in the trajectory and the time taken between frame-grabs

• Radius determined by average bird velocity, time between frames, current velocity, and distance from the cameras

Camera Placement and Resolution Requirements

Camera Placement and Resolution Requirements

Average bird size

• The average migratory bird is approximated as a 6-inch diameter (15.24 cm) sphere based on information obtained from the Patuxent Wildlife Research Center

• The cameras (at 640x480 res) can see 4.6875 cm/pixel at a distance of 50 meters

• An “average size” bird will illuminate less than ≈ 9 pixels

Average bird speed

• The average migratory bird velocity is assumed to be 20mph (8.9409 m/s) based on information from the Northern Prairie Wildlife Research Center

Tasks Remaining

Test Plan

• There will be three primary test procedures that will be performed to verify the system specifications:

• Location Accuracy– track an AMBS object in known trajectories

(including trajectories proceeding primarily towards and away from the cameras) and compare the measured and actual locations

• Max/Min Distance from Cameras– track an AMBS object in known trajectories

and check accuracy/ability to track• Max # Objects

– TBD

Test Setup

• Location Accuracy– Place tubes for balls to drop through in

controlled trajectories. Compare theoretical to experimental.

• Max/Min Distance from Cameras– Repeat ‘Location Accuracy’ experiment at

extremes of range.

• Max # Objects– Nerf Guns!!!

Integration of Code for Stream-lined Operation

• Code required to save information only when objects appear on the screen.

• Transmission/reception of object location data between processing computers.

• Integrate preprocessing program with trajectory calculation program for continuous operation.

Develop GUI

• User interface for preprocessing computer

• Graphical display of information and results (including trajectory plots and statistics) on processing computer

Revised Schedule3/11 Construct test setup and test plan Both

3/16 - 3/18 Spring break Both

3/23 - 3/25 Evaluate system performance via test plan(C++ preprocessing / MATLAB trajectory calculation)

Both

3/30 - 4/1 Develop GUI and investigate porting MATLAB code to C++ Both

4/6 - 4/8 Integrate preprocessing code and trajectory calculation code for seamless operation

Both

4/13 - 4/15 Continue integration of preprocessing/trajectory calculationPrepare for Senior Expo presentation

Both

4/20 - 4/22 Make any necessary changes for project demonstrationBegin recording conclusions for final report

Both

4/27 - 4/29 Prepare final report and presentation Both

5/4 - 5/6 Present final deliverables and presentation Both

Tracking Migratory BirdsAround Large Structures

Any questions?