Quagents and Vision
Flippin' 'eck! Is this Quake or the bleedin' Teletubbies?
Chapters 15, 24, and maybe 25 are a start, but you also may want to
look at this
Our text is among the better general AI texts for computer vision and
robotics, but we believe you will probably need other resources.
There are loads of computer vision texts and books in the library and
for sale, also generations worth of conference proceedings, journals,
and of course on-line technical reports and tutorials on individual
A potentially useful resource (I'd like your opinion!)
that includes whole digitized books, such as
Computer Vision , by Ballard and Brown, plus sections on
many computer vision techniques, is
Computer Vision Online
, from our old friend Rob Fisher at U. Edinburgh. Some of the
work, some don't. There could be some useful links at
Counting Colored Objects , a link down in the section on "possible
future projects". Or similarly with the "video surveillance" project.
This is a team assignment. Teams of two or three are OK. Make sure
there is a chance for each team member to shine.
The following suggestions are all classic computer vision problems.
Each is still an area of active research. Each has lots of prior
literature in books and articles (survey articles are quite useful for
getting a picture of what's been tried and what works in what
Usually, to make progress, one tries to limit the size of the problem
one tackles. Thee and me solve all these problems continuously and
quickly, but for now it's advisable to pick one, and further to pick a
domain that is supportive of the problem you pick. Part of my problem
now is that I have no idea just what the pitfalls in the Quake world
are. For one thing it's dark and the colors are kind of muzzy. If
the color palette is restricted there's less signal there. Also it's
not clear these bots are stable camera platforms...they seem to have a
little inherent jiggle that is going to make motion analysis
The images may be very low resolution, which limits the amount
of detail available. And so on. You can help by quickly identifying
a problem you want to work on and then reporting to me if things seem
not to be working out as expected.
Declare what objects (or parts of objects) are
``salient'' and use vision to separate their image evidence from the
rest of the image. E.g. if edges and corners are important say to
make a line drawing of your environment, find lines. If you want to
recognize objects, usually you need to separate their image regions
from the background in order to do some sort of matching. This leads
you to region-growing (or splitting, or merging) algorithms and to the
search for reliable features defining regions. If you are
interested in moving objects (for us, other bots), you'd like to find regions in an image
stream that represent where the moving objects are. Here's an
one: find object (presumably other bots) moving in the environment if
you, the observer, are also moving. It can be done. Or you might
want to compute depth maps: compute a range image, where the pixels
denote range. An obvious thing to try is stereo, where you move your
bot, taking images from two positions separated by some baseline.
Matching the corresponding pixels of the two images gives you a
disparity by which they're separated, and disparity is related to
depth. Usually a black-white or color-mapped disparity map
image is considered a good-enough final output for stereo.
From Tulane, here is an edge-enhance image made with an edge-finder
from Matlab: As Prof Levy states:
I've attached a snapshot showing edge-filtering of a scene in Matlab/Octave,
generated with the following code:
client = QuagentClient;:
[bytes,width,height] = look(client);:
a = reshape(bytes(1:4:end), width, height)'; % red plane:
b = edge(a, 'roberts', 12); % from Octave image package:
Here's The Edge Finder Output
You might want to simplify the segmentation
somehow (make sure the object of interest is at the center of the
image? make sure the background is predictable and you can subtract
it...?). Then you could tackle object recognition. How to tell one
bot from another, or one item from another? My suggestion here is to
use a classic clustering approach.
Here are some
specific ideas on features and techniques.
that works is a decision tree: make visual tests of increasing
(and presumably decreasing accuracy) until you're sure enough.
The brave or
foolhardy (Ask Andrew and Justin first!) might want to try a neural
net to implement clustering (but you'll have an issue of training).
Interesting issues here are: robustness of classification in the face
of scale, orientation, lighting changes and obscuration. And of
course how many different objects you can recognize. At the heart of
the matter usually are the features that you compute.
Track another object. Could be something static while
observer is moving, or object could move, or both could move. If
there is time and power enough, object could be found anew in every
frame. Depending on assumptions this can work: but if object
disappears temporarily one is embarrassed. This is why we have Kalman
filtering, prediction, etc., which allows prediction of where an
object is if its signal drops out, and which also smooth noisy data
into a more accurate estimate. Also if the object-recognition problem
is not trivial, then knowing where to look for it is a leg up.
Given you can track another bot, then a good exercise is to follow it
(while it walks at random or in a square, etc.). This is good since
it closes the control loop between vision and action. Another
interesting exercise might be to try to AVOID a tracker, both of you
using vision. May be difficult since one must turn to see behind , I
This is not my favorite since it is not video, but is is a
practical and vision-like problem. Pretend the RAYs facility is a
ring of infrared range-finders. These IR sensors are very noisy, so
you'll want to add some noise and dropout (certain directions, at
random, give you no answer. That can happen either as an error, or
of course if there really is nothing out there (in range of the
sensor, that is.) You may also want to limit sensor range. Then given
you are simulating an IR sensor ring, your job is automatically to
make a map of the environment (mainly walls and doors are usually what
gets considered here, not items, windows, bots, etc.). Of course with
RAYS you have the luxury of knowing what you're seeing, so could, if
want, put items into your map: some laser range sensors can also give
you the reflected spectral energy so you could almost imagine doing
object recognition that way. Generally, though, the problem is to
take noisy data that should originate from walls and grouping it
together into line segments so you can draw an accurate map. For this
one basic tool that is a favorite in computer vision classes is the
a tar.gz file
with raw C source code for alpha-beta
and alpha-beta-gamma tracking filters. The meat of such a filter is
about four lines long, the rest is various bells and whistles to deal
with data dropout, uneven time intervals between readings, etc.
Randal Nelson has an extensive suite of image-analysis tools and other
computer vision resources.
Intel has the Open Source
Computer Vision Library,, which as both low-level and high-level
routines (some care is needed...documentation and function often
What to Hand In
Send CB a (strictly private and confidential) review of the
performance of each of your
teammates if there is anything special that I should know.
Make sure we can tell who did what in the project.
Produce the usual beautiful writeup describing
problem, approach, assumptions, results, discussion,
and esp. discussion of issues raised by the quake world in particular
might be different in different domains. graphics are nice
(screenshots of the domain, objects in the domain, the performance of
trackers measured somehow, the raw data and the processed data from
map-making etc. Don't forget the
Aim for the goal that
your project is so well-conceived, well-done, and well-reported that
your report will take its place in the 242 Hall of Fame. I am hoping
for ingenious, compelling experiments and conclusions.
Create a PDF document of your writeup and upload it to BB.
Write in good scientific style in the form of a computer science
You may find useful this set of
on writing and homework.
There are some example writeups of student projects on the
242 Home Page
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