FastTrack

Status: Work in progess. Fairly complete documentation is available for all library functions.
Justin Pearson is currently working on interfacing this code with Simulink’s Real-Time Workshop for feedback control.

Download: [tar file]

The core of this C library is a couple of functions that search for visual landmarks in gray-level images. These visual landmarks consist of “Square-in-Square” (SiS) shapes with specific geometric ratios between the sizes of the squares.

The FastTrack functions were constructed to pick out SiS landmarks, regardless of lighting conditions and viewing direction. They are also very fast, taking only a few milliseconds to process a full image. This makes FastTrack very attractive for robot navigation applications that need to process images at frame rate. The FastTrack library also provides a few auxiliary functions to aid in the development and debug of real-time image processing in the X-Windows environment.

Examples are provided to illustrate the use of the library. The following figure shows the output of one of these examples.

Bibliographic citation

When used in research, please acknowledge the use of this software with the following reference:

João Hespanha. FastTrack or "Where's Waldo?" — a C. Available at http://www.ece.ucsb.edu/~hespanha, Sep. 2006.

or if you use latex/bibtex:

@Misc{HespanhaSep06,
  author =       {Jo{\~a}o Pedro Hespanha},
  title =        {\texttt{FastTrack} or ``Where's Waldo?''
                  --- a {C} library to find visual landmarks in real-time},
  howpublished = {Available at \url{http://www.ece.ucsb.edu/~hespanha}},
  month =        sep,
  year =         2006
}

Disclaimer

This program is free software; you can redistribute it and/or modify it under the terms of the GNU General Public License as published by the Free Software Foundation; either version 2 of the License, or (at your option) any later version. This program is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General Public License for more details (http://www.gnu.org/copyleft/gpl.html)