Individual project for CSE190a at UCSD Winter Quarter 2008. The project is based upon the design and requirements specified by the UCSD AUVSI team that is entering the AUVSI UAS competition for UAV reconnaissance.

Wednesday, March 5, 2008

Improvements To Illumination Variation

I have made some changes to the base images that are used for the illumination variation, however i have found that the system required some tweaking in the range of what is classified as a target as often i have found that the avc difference in chi squared between the tests is too strick, to loosen this i have simply drawn a boundary of either the average chi squared or 0.1 which is the larger.

By doing so i get a better classification result for the images.

AVC: 0.191358 AVD: 0.032299 AVL: 0.014278

2: 0.109081 Present - Normal
3: 0.045300 Present - Light
4: 0.022777 Present - Light
5: 0.058292 Present - Light
6: 0.083343 Present - Dark
7: 0.030796 Present - Light
8: 0.063477 Present - Light
9: 1.000000 Empty //Actually Present just extremely bright.
10: 0.060175 Present - Light
11: 0.167384 Present - Normal
12: 1.000000 Empty //Actually Present just extremely dark.
13: 0.156815 Present - Normal
14: 1.000000 Empty //Actually Present images are blurred.
15: 1.000000 Empty //Actually Present images are bluured.
16: 1.000000 Empty
17: 1.000000 Empty
18: 1.000000 Empty
19: 0.187468 Present - Normal //Actually Empty image of bag strap
20: 0.171188 Present - Normal //Actually Empty image of chemistry book
21: 0.186641 Present - Normal //Actually Empty image of penny


I see this as a massive improvement. I was always dubious about blurring and now i can see clearly that this is an issue i have still to fix but i hope that with a test of such an image with no blurring it is picked up. This would prove to me that the blurring is the issue and not the classification of that model/style of image.


Immediate Possibilities:

  1. Test Blur Theory Against Non Blurry Images

  2. Check Dark Images for Improvements

  3. Target Location

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