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Tracking Migratory Birds Around Large Structures by Arik Brooks and Nicholas Patrick

Tracking Migratory Birds Around Large Structures by Arik Brooks and Nicholas Patrick Senior Design Project 2003-2004 Bradley University Department of Electrical and Computer Engineering. Outline. Background Project summary Previous Work Detailed description System block diagram

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Tracking Migratory Birds Around Large Structures by Arik Brooks and Nicholas Patrick

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  1. Tracking Migratory BirdsAround Large Structures by Arik Brooks and Nicholas Patrick Senior Design Project 2003-2004Bradley UniversityDepartment of Electrical and Computer Engineering

  2. Outline • Background • Project summary • Previous Work • Detailed description • System block diagram • Subsystems • Modes of operation • Design equations

  3. Outline • Preliminary design work • Datasheet • Schedule • Standards/Patents • References • Equipment List

  4. Background • Every year, many birds are killed when their migration path takes them near tall structures. • This usually occurs on overcast nights, and one widely accepted theory on why these bird kills happen is that the birds do not want to leave the lighted area near a structure and end up running into it.

  5. Project Summary • The purpose of this project is to implement a system to track the trajectories of birds flying within the field of view of a set of cameras mounted on a rotatable boom in realtime. • The positions of the birds are determined using stereoscopic vision by placing the two cameras a known distance apart in parallel with each other.

  6. Project Summary • The system output is a display depicting a three dimensional representation of the trajectories, and data relating to the trajectories. • Inputs to the system include the position of the boom, images detected by the cameras, calibration information, and confidence level threshold.

  7. Previous Work • Seniors Brian Crombie and Matt Zivney worked on a senior project in Spring 2003 with the goal of tracking birds around tall structures via stereoscopic imaging. • They achieved basic object tracking in a laboratory environment with major limitations. • The groundwork laid out in their project (algorithms, design equations, software organization, etc.) will be used as a starting point for our system.

  8. Detailed Description

  9. System Block Diagram System

  10. Hardware Block Diagram

  11. Subsystems • Cameras • Boom • Frame Grabber • PC • Display and Interface

  12. Camera Subsystem • The camera subsystem includes two cameras mounted in parallel a known distance apart allowing objects to be located in space. • Inputs • Photons -- Images from the environment within the field of view of the cameras • Synchronization signal -- Signal from an external source (frame grabber) to coordinate the capturing of images • Outputs • Data -- Image data transmitted to the frame grabber • Operation in Modes • The cameras capture images continuously

  13. Boom Subsystem • The boom subsystem holds the cameras in parallel and rotates via a stepper motor. • The position of the boom is determined from the output of an encoder. • Inputs • Stepper Motor Control Signal -- Rotates the boom in two directions • Outputs • Encoder Output -- Signal to the PC to determine the current angle of the boom • Operation in Modes • The boom operates (changes position) only in Setup mode

  14. Frame Grabber Subsystem • The frame grabber simultaneously captures images from both cameras and supplies the data to the PC. • Inputs • Data -- Image data from the cameras • Setup -- Information from the PC • Outputs • Image Data to PC • Synchronization Signal -- Signal to the cameras to coordinate the capture of images • Operation in Modes • The frame grabber operates continuously along with the cameras

  15. PC Subsystem • Inputs • Image Data -- Arrays of intensity information from the frame grabber representing the collected images • Encoder -- Angle information from the boom encoder • Desired Boom Position -- Input from the user for desired boom position • Real-time/Delay -- Input from user determining whether or not to calculate and display the trajectory information in real-time • Calibration Input -- Calibration data for the cameras being used • Confidence Level -- User defined level of non-linearity in trajectories allowable for consideration

  16. PC Subsystem • Outputs • Display -- Trajectories displayed in a three dimensional representation and graphical user interface • Statistics -- Pertinent information about the objects locations and trajectories (e.g. Number of birds within x distance of the cameras, maximum velocity, etc.) • Raw Data -- Data file containing all position data for later analysis • Operation in Modes • The PC is continuously operating in every mode

  17. Display and Interface Subsystem • The trajectories will be displayed on a standard computer monitor. • The user will interface with the system using a standard computer keyboard and mouse. • Inputs • Display Information • User Inputs • Outputs • Image Display • User Data • Operation in Modes • The Display and Interface will be used in Setup and Display modes

  18. Modes of Operation • Setup • Monitoring • Data Acquisition • Display and Computation

  19. Setup Mode

  20. Monitoring Mode

  21. Data Acquisition Mode

  22. Display and Computation Mode

  23. Design Equations

  24. Preliminary Design Work • Based on preliminary work performed in the laboratory, it was determined that a better method of transient object correlation needs to be implemented to achieve the tracking of a large number of objects at one time. • When objects cross paths or get close to each other, the current transient correlation algorithm fails to differentiate between those objects accurately and errors occur.

  25. Preliminary Design Work

  26. Preliminary Design Work • The basic flow of the software to be designed including better organization and correlation method was determined. • Preprocessing • Read in image, record initial time stamp and time between frame grabs • Discard areas that are not within field of view of both cameras • Perform a background subtraction to extract moving objects • Threshold and convert each image to B/W • Apply filters • Find areas/centroids of all objects

  27. Preliminary Design Work • Correlation/Trajectory • Input areas/centroids found in preprocessing • Save data for later use • Find every “possible” 3d position for the objects in the present frame • to be “possible”, must be within 30 pixels of each other between cameras in horizontal position • continued...

  28. Preliminary Design Work • Correlation/Trajectory (continued) • Search for closest position to predicted position, within the user defined threshold, for each object based on its previous two locations • Search for objects that were first detected in the previous frame based on closest position and area within a threshold (Different from the user defined threshold) • Correlate any remaining objects between two cameras based on closest horizontal distance and area • Calculate new predicted positions for any object with two or more data points in time • Display

  29. Datasheet • Average Migratory Bird Size (AMBS): TBD • Max # of Objects Tracked Simultaneously: TBD • Max Distance from Cameras: TBD • Min Distance from Cameras: TBD • Max Location Error: TBD • Light Level Sensitivity: • Lab Cameras: 0.22 Lux • Low Light Cameras: 0.0002 Lux • Max Framerate: TBD • System Latency: TBD • Max Trackable Bird Speed: TBD • Total Volume of Space Observed: TBD • Boom Rotation Step Resolution: TBD

  30. Test Plan • There will be four 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 • Contrast Resolution • track objects of various known intensities in front of a variety of backgrounds

  31. Schedule

  32. Schedule

  33. Standards • There are no overarching standards that apply to bird tracking, but several standards are used to interface cameras to the PC. • NTSC • The cameras selected produce NTSC compatible signals, which is the standard in North America • The Frame Grabber converts NTSC inputs to digital images • DirectX • DirectX is a defacto standard for Microsoft Windows which includes a programming interface to video capture devices such as frame grabbers • DirectX was chosen over proprietary APIs to maintain a maximum amount of hardware independence

  34. Patents • Patent #6,366,691 • Stereoscopic image processing apparatus and method • Patent #6,028,954 • Method and apparatus for three-dimensional position measurement • Patent #6,035,067 • Apparatus for tracking objects in video sequences and methods therefor • Patent #5,812,269 • Triangulation-based 3-D imaging and processing method and system

  35. References http://www.intel.com/research/mrl/research/openCV/ Pinhole camera model, image processing reference. http://www.digibird.com/primerdir/eqn.gif Equations relating focal length to zoom http://www.ipsimaging.com/support/camerasensitivity.htm Light levels for various time of day and weather conditions. http://sportscience.org/adi2001/adi/services/support/faq/software_genlock.asp Estimating position when synchronized cameras are not available. http://www.fmsystems-inc.com/vtmtips_article.htm Using line lock cameras. http://www.imaginghardware.com/Tutorials/Docs/t00002A.asp Equation relating focal length to target object size, distance, and CCD width. http://www.machinevisiononline.org/public/articles/cohu.PDF Measurements for various CCD sizes. http://cegt201.bradley.edu/projects/proj2003/birdtrak/pdf/proj_prop.pdf Project proposal from previous group Chen, Tieh-Yuh; Bovik, Alan Conrad; Cormack, Lawrence K. “Stereoscopic Ranging by Matching Image Modulations,” IEEE Transactions on Image Processing. Vol 8, # 6, June 1999, pg 785-797.

  36. Equipment List • Cameras and Lenses • Lab • Sanyo VCB-3444 • Rainbow L8DC4P Auto Iris Lens • Low Light • Hitachi KP-200E • $920 at www.opsci.com • DV10x7.5A-SA2 Auto Iris Lens • $273 at www.opsci.com

  37. Equipment List • Video Capture Card • Data Translation DT3132 Dual Frame Grabber • Supports simultaneous acquisition of images from two sources. • Programmable through DirectX

  38. Equipment List • PC • Windows 2000 or higher OS • DirectX 8.1 or higher installed • One PCI slot for frame grabber • Enough processor power for real-time operation • Development software • DirectX 8.1 SDK • Microsoft Visual Studio 6.0 • MATLAB 6.5 with image processing toolbox

  39. Tracking Migratory BirdsAround Large Structures Questions?

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