[Work Log]

June 26, 2013
Project Tulips
Subproject Data Association v2
Working path projects/​tulips/​trunk/​src/​matlab/​data_association_2
Unless otherwise noted, all filesystem paths are relative to the "Working path" named above.


Likelihood construction

Started and finished implementation today. Need to design a test and then debug.

~ 250 lines of Matlab code. Logic overview:

  1. smooth triangulated points
  2. resample smoothed 3D curve uniformly
  3. handle tails (see below)
  4. project curve into each view and resample uniformly
  5. DTW to correspond 2d data curve to projected smooth curve (see below)
  6. map corresponding projected curve points back to 3D points and indices
  7. triangulate 2d data points against corresponding 3d point
  8. compute likelihood hessian around that point


Re-implemented a specialized version of DTW with following changes:

Tail points

Still iffy on the "tail points" case. Implemented late at night and likely needs review in the morning. Still need to handle negative index values.

Alternative implementation: only inspect the tails to determine the length of the 3D curve. Then proceeed as usual. no special cases


Posted by Kyle Simek
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