NavFocus Midway Design Review

1. NavFocusMidway Design Review Team Hollot By: Cory Brett Jonathan Katon Thomas Pavlu Haiyan Xu

2. Outline • PDR Recap • Individual Systems • Status Reviews • Demonstrations • Design Challenges • Gantt Chart • CDR Deliverables / Work Assignments • Cost Breakdown

3. PDR Recap • Last time, we discussed: • Motivations, problem statement, solution • Preliminary design implementation • Anticipated design challenges • MDR deliverables • Cost breakdown

4. PDR Recap NavFocus Camera User Interface User Road Tracking Control Unit GPS Module Mapping and Routing Overlay Renderer Video Output

5. Mapping and Routing NavFocus • 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 Camera User Interface User Road Tracking Control Unit GPS Module Mapping and Routing Overlay Renderer Video Output

6. Mapping and Routing NavFocus • 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 Camera User Interface User Road Tracking Control Unit GPS Module Mapping and Routing Overlay Renderer Video Output

7. Mapping and Routing NavFocus • 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. Camera User Interface User Road Tracking Control Unit GPS Module Mapping and Routing Overlay Renderer Video Output

8. Image Overlay Renderer NavFocus • Modifications to image overlay based on suggestions from review board Camera User Interface User Road Tracking Original NavFocus Projection Concept Modified NavFocus Projection Concept Control Unit GPS Module Mapping and Routing Overlay Renderer Video Output

9. Image Overlay Renderer NavFocus Camera User Interface User Road Tracking Control Unit GPS Module Mapping and Routing Overlay Renderer Video Output

10. Image Overlay Renderer NavFocus • Tools used to dynamically build images • ImageMagick • MagickWand • OpenCV Camera User Interface User Road Tracking Control Unit GPS Module Mapping and Routing Overlay Renderer Video Output

11. 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

12. Road Tracking NavFocus • 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 Camera User Interface User Road Tracking Control Unit GPS Module Mapping and Routing Overlay Renderer Video Output

13. 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

14. 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

15. Cost Breakdown

16. Questions?