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Nov 15, 2015, 02:19 AM
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Augmenting vision with heading


There is an algorithm which generates a basket of possible paths, using a large subset of color keys. For any combination lighting & shadows, it's guaranteed to find at least 1 frame which has the closest approximation to the true path. This reduces the problem to just finding which approximation is the best. In this case, previous knowledge of the absolute heading of the true path & vehicle could be the only pieces required to close the loop. Once the ideal path from chroma keying is known, the edges can be found.

Getting a vehicle heading accurate enough to do the job is still tricky business, but if it worked, no further work would be required. It would start with a test program that superimposed heading on video. The compass would be attached to the Odroid.

A purely vision based filter is still ideal. An attempt to rank images based on edge detection failed. It calculated the best triangle in each frame, picking the frame with the highest number of masked pixels in the triangle. Another idea is to pick the frame where the masked pixels line up with the triangle with the least noise.
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