“Bomb tracker” (or “the eye in the sky”)

1. “Bomb tracker”(or “the eye in the sky”) Presented by: Dan Kogan Ilya Kaganovsky

2. General idea • Bombs “watched” by digital eyes can be easily tracked by fast and simple calculations • in order to calculate a bombs (("פצצת מרגמה" path we need it’s 3-D (x,y,z) location in at least two time periods. • using interpolation we determine the curve that represents the bomb’s path and find the impact point so a specific time and place alarm can go off

3. The three major steps 1. Reading three sets of two images. a set represents the bomb from two camera devices at a time period. than we calculate a point to represent the location. 2. for each set of two points given in 2-D (x,y) we find a co-responding point in 3-D (x,y,z) by calculations of stereo vision. 3. With the three 3-D pointes we find, throw interpolation polynomial, the curves representing the bomb path, the impact point would be the curves value at y=0.

4. Step 1: reading and labeling • We read three sets of two pictures • For each picture we find the segment of the bomb by relaxation labeling and there by remove noise. • For each picture we produce a point that represent the bomb’s location. we do so by using lateral inhibition and then returning the position of the cell with the maximal value. (thus we recognize the center of the “first” 3x3 segment as the bomb)

5. Step2: stereo • Once we got two pointes we calculate the missing damnation: depth = b*f/ abs(xr - xl); were ‘b’ is the distance between the cameras and ‘f’ is a camera property. • We prefer ‘f’ and d to be large because the bomb would probably be far from the cameras.

6. Step3: interpolation • We find the polynomial that fits the 3 points • We return it’s crossing point with the X Axis (height)

7. Summery: (x,y) (x,y,z) (x,y) 3-d point by stereo calculation point extraction by lateral inhibition Segmentation via relaxation labeling

8. Estimated Impact point by 3 (x,y,z) samples

9. תודה ו...שלום.