1 00:00:15,759 --> 00:00:18,550 hi i'm richard juday i'm the 2 00:00:18,550 --> 00:00:18,560 hi i'm richard juday i'm the 3 00:00:18,560 --> 00:00:20,870 hi i'm richard juday i'm the robotic vision manager in the tracking 4 00:00:20,870 --> 00:00:20,880 robotic vision manager in the tracking 5 00:00:20,880 --> 00:00:22,390 robotic vision manager in the tracking and communications division here at the 6 00:00:22,390 --> 00:00:22,400 and communications division here at the 7 00:00:22,400 --> 00:00:24,950 and communications division here at the johnson space center uh today we're in 8 00:00:24,950 --> 00:00:24,960 johnson space center uh today we're in 9 00:00:24,960 --> 00:00:27,670 johnson space center uh today we're in the hybrid vision laboratory where we do 10 00:00:27,670 --> 00:00:27,680 the hybrid vision laboratory where we do 11 00:00:27,680 --> 00:00:31,189 the hybrid vision laboratory where we do a combination of vision techniques we 12 00:00:31,189 --> 00:00:31,199 a combination of vision techniques we 13 00:00:31,199 --> 00:00:33,110 a combination of vision techniques we use laser lights we use spatialite 14 00:00:33,110 --> 00:00:33,120 use laser lights we use spatialite 15 00:00:33,120 --> 00:00:34,709 use laser lights we use spatialite modulators 16 00:00:34,709 --> 00:00:34,719 modulators 17 00:00:34,719 --> 00:00:37,030 modulators and we use a thing that we'll talk about 18 00:00:37,030 --> 00:00:37,040 and we use a thing that we'll talk about 19 00:00:37,040 --> 00:00:38,950 and we use a thing that we'll talk about some more today which is 20 00:00:38,950 --> 00:00:38,960 some more today which is 21 00:00:38,960 --> 00:00:42,869 some more today which is a image remapping technique that allows 22 00:00:42,869 --> 00:00:42,879 a image remapping technique that allows 23 00:00:42,879 --> 00:00:44,470 a image remapping technique that allows machine vision 24 00:00:44,470 --> 00:00:44,480 machine vision 25 00:00:44,480 --> 00:00:46,549 machine vision to have some of the aspects that have 26 00:00:46,549 --> 00:00:46,559 to have some of the aspects that have 27 00:00:46,559 --> 00:00:48,950 to have some of the aspects that have proven advantageous in the development 28 00:00:48,950 --> 00:00:48,960 proven advantageous in the development 29 00:00:48,960 --> 00:00:52,069 proven advantageous in the development of robot of human vision and other 30 00:00:52,069 --> 00:00:52,079 of robot of human vision and other 31 00:00:52,079 --> 00:00:55,350 of robot of human vision and other biological human systems 32 00:00:55,350 --> 00:00:55,360 biological human systems 33 00:00:55,360 --> 00:00:57,110 biological human systems the main function of the programmable 34 00:00:57,110 --> 00:00:57,120 the main function of the programmable 35 00:00:57,120 --> 00:00:59,670 the main function of the programmable remapper within the machine vision 36 00:00:59,670 --> 00:00:59,680 remapper within the machine vision 37 00:00:59,680 --> 00:01:00,709 remapper within the machine vision environment 38 00:01:00,709 --> 00:01:00,719 environment 39 00:01:00,719 --> 00:01:03,349 environment is to provide things like rotation and 40 00:01:03,349 --> 00:01:03,359 is to provide things like rotation and 41 00:01:03,359 --> 00:01:05,910 is to provide things like rotation and variance and scale in variants and you 42 00:01:05,910 --> 00:01:05,920 variance and scale in variants and you 43 00:01:05,920 --> 00:01:07,590 variance and scale in variants and you have some of those features built into 44 00:01:07,590 --> 00:01:07,600 have some of those features built into 45 00:01:07,600 --> 00:01:08,469 have some of those features built into your 46 00:01:08,469 --> 00:01:08,479 your 47 00:01:08,479 --> 00:01:10,310 your vision system that you're watching the 48 00:01:10,310 --> 00:01:10,320 vision system that you're watching the 49 00:01:10,320 --> 00:01:11,910 vision system that you're watching the show with 50 00:01:11,910 --> 00:01:11,920 show with 51 00:01:11,920 --> 00:01:13,510 show with you know what my face looks like as i 52 00:01:13,510 --> 00:01:13,520 you know what my face looks like as i 53 00:01:13,520 --> 00:01:16,390 you know what my face looks like as i stand here as i look as i stand closer 54 00:01:16,390 --> 00:01:16,400 stand here as i look as i stand closer 55 00:01:16,400 --> 00:01:18,950 stand here as i look as i stand closer or closer or closer 56 00:01:18,950 --> 00:01:18,960 or closer or closer 57 00:01:18,960 --> 00:01:21,910 or closer or closer you don't have to remember a different 58 00:01:21,910 --> 00:01:21,920 you don't have to remember a different 59 00:01:21,920 --> 00:01:23,910 you don't have to remember a different shape of face 60 00:01:23,910 --> 00:01:23,920 shape of face 61 00:01:23,920 --> 00:01:26,550 shape of face because you have a a character to your 62 00:01:26,550 --> 00:01:26,560 because you have a a character to your 63 00:01:26,560 --> 00:01:27,830 because you have a a character to your vision system 64 00:01:27,830 --> 00:01:27,840 vision system 65 00:01:27,840 --> 00:01:28,710 vision system that 66 00:01:28,710 --> 00:01:28,720 that 67 00:01:28,720 --> 00:01:30,630 that doesn't mind the changes of scale 68 00:01:30,630 --> 00:01:30,640 doesn't mind the changes of scale 69 00:01:30,640 --> 00:01:32,630 doesn't mind the changes of scale machines have more trouble with that and 70 00:01:32,630 --> 00:01:32,640 machines have more trouble with that and 71 00:01:32,640 --> 00:01:34,710 machines have more trouble with that and we built the programmable remapper in 72 00:01:34,710 --> 00:01:34,720 we built the programmable remapper in 73 00:01:34,720 --> 00:01:37,830 we built the programmable remapper in order to assist with that kind of a 74 00:01:37,830 --> 00:01:37,840 order to assist with that kind of a 75 00:01:37,840 --> 00:01:41,030 order to assist with that kind of a problem in machine vision now some of 76 00:01:41,030 --> 00:01:41,040 problem in machine vision now some of 77 00:01:41,040 --> 00:01:43,109 problem in machine vision now some of the robotic vision 78 00:01:43,109 --> 00:01:43,119 the robotic vision 79 00:01:43,119 --> 00:01:45,830 the robotic vision applications that the agency has 80 00:01:45,830 --> 00:01:45,840 applications that the agency has 81 00:01:45,840 --> 00:01:48,710 applications that the agency has uh would include working with 82 00:01:48,710 --> 00:01:48,720 uh would include working with 83 00:01:48,720 --> 00:01:51,510 uh would include working with a spacecraft in orbit we have machines 84 00:01:51,510 --> 00:01:51,520 a spacecraft in orbit we have machines 85 00:01:51,520 --> 00:01:56,550 a spacecraft in orbit we have machines that simulate some of the 86 00:01:56,550 --> 00:01:56,560 87 00:01:56,560 --> 00:01:59,429 change in viewing angle and 88 00:01:59,429 --> 00:01:59,439 change in viewing angle and 89 00:01:59,439 --> 00:02:01,670 change in viewing angle and and distance that 90 00:02:01,670 --> 00:02:01,680 and distance that 91 00:02:01,680 --> 00:02:05,109 and distance that will be required in space operations 92 00:02:05,109 --> 00:02:05,119 will be required in space operations 93 00:02:05,119 --> 00:02:07,590 will be required in space operations beyond this kind of an application 94 00:02:07,590 --> 00:02:07,600 beyond this kind of an application 95 00:02:07,600 --> 00:02:10,150 beyond this kind of an application we also intend to build vision systems 96 00:02:10,150 --> 00:02:10,160 we also intend to build vision systems 97 00:02:10,160 --> 00:02:13,670 we also intend to build vision systems that will land robotically on mars 98 00:02:13,670 --> 00:02:13,680 that will land robotically on mars 99 00:02:13,680 --> 00:02:16,309 that will land robotically on mars i am very turned on to the idea that i 100 00:02:16,309 --> 00:02:16,319 i am very turned on to the idea that i 101 00:02:16,319 --> 00:02:18,229 i am very turned on to the idea that i might be able to tell my grandkids that 102 00:02:18,229 --> 00:02:18,239 might be able to tell my grandkids that 103 00:02:18,239 --> 00:02:20,229 might be able to tell my grandkids that i worked on a vision system that enabled 104 00:02:20,229 --> 00:02:20,239 i worked on a vision system that enabled 105 00:02:20,239 --> 00:02:22,550 i worked on a vision system that enabled a robot to land on the surface of mars 106 00:02:22,550 --> 00:02:22,560 a robot to land on the surface of mars 107 00:02:22,560 --> 00:02:25,430 a robot to land on the surface of mars technology utilization's interest in 108 00:02:25,430 --> 00:02:25,440 technology utilization's interest in 109 00:02:25,440 --> 00:02:27,670 technology utilization's interest in this in this particular technology is 110 00:02:27,670 --> 00:02:27,680 this in this particular technology is 111 00:02:27,680 --> 00:02:29,910 this in this particular technology is for its application to 112 00:02:29,910 --> 00:02:29,920 for its application to 113 00:02:29,920 --> 00:02:31,830 for its application to some human low vision problems that's 114 00:02:31,830 --> 00:02:31,840 some human low vision problems that's 115 00:02:31,840 --> 00:02:33,670 some human low vision problems that's one of the things that the agency is 116 00:02:33,670 --> 00:02:33,680 one of the things that the agency is 117 00:02:33,680 --> 00:02:35,910 one of the things that the agency is supposed to do is develop technology 118 00:02:35,910 --> 00:02:35,920 supposed to do is develop technology 119 00:02:35,920 --> 00:02:37,910 supposed to do is develop technology that can be spun off into 120 00:02:37,910 --> 00:02:37,920 that can be spun off into 121 00:02:37,920 --> 00:02:39,830 that can be spun off into public application 122 00:02:39,830 --> 00:02:39,840 public application 123 00:02:39,840 --> 00:02:42,390 public application some of the things that can help make a 124 00:02:42,390 --> 00:02:42,400 some of the things that can help make a 125 00:02:42,400 --> 00:02:44,710 some of the things that can help make a machine see better 126 00:02:44,710 --> 00:02:44,720 machine see better 127 00:02:44,720 --> 00:02:47,750 machine see better we think have a solid chance 128 00:02:47,750 --> 00:02:47,760 we think have a solid chance 129 00:02:47,760 --> 00:02:49,430 we think have a solid chance of helping the 130 00:02:49,430 --> 00:02:49,440 of helping the 131 00:02:49,440 --> 00:02:51,990 of helping the person who has certain forms 132 00:02:51,990 --> 00:02:52,000 person who has certain forms 133 00:02:52,000 --> 00:02:53,670 person who has certain forms of diminished vision 134 00:02:53,670 --> 00:02:53,680 of diminished vision 135 00:02:53,680 --> 00:02:55,910 of diminished vision make the best use of the remaining 136 00:02:55,910 --> 00:02:55,920 make the best use of the remaining 137 00:02:55,920 --> 00:02:58,949 make the best use of the remaining function that he has it's not a cure 138 00:02:58,949 --> 00:02:58,959 function that he has it's not a cure 139 00:02:58,959 --> 00:03:01,110 function that he has it's not a cure it's not available next week but we 140 00:03:01,110 --> 00:03:01,120 it's not available next week but we 141 00:03:01,120 --> 00:03:02,309 it's not available next week but we think that 142 00:03:02,309 --> 00:03:02,319 think that 143 00:03:02,319 --> 00:03:04,309 think that within something on the order of five 144 00:03:04,309 --> 00:03:04,319 within something on the order of five 145 00:03:04,319 --> 00:03:05,589 within something on the order of five years 146 00:03:05,589 --> 00:03:05,599 years 147 00:03:05,599 --> 00:03:08,070 years this kind of technology the results of 148 00:03:08,070 --> 00:03:08,080 this kind of technology the results of 149 00:03:08,080 --> 00:03:09,750 this kind of technology the results of our research here 150 00:03:09,750 --> 00:03:09,760 our research here 151 00:03:09,760 --> 00:03:12,550 our research here uh can have a benefit to the 152 00:03:12,550 --> 00:03:12,560 uh can have a benefit to the 153 00:03:12,560 --> 00:03:14,550 uh can have a benefit to the low vision community within the within 154 00:03:14,550 --> 00:03:14,560 low vision community within the within 155 00:03:14,560 --> 00:03:16,229 low vision community within the within the the country 156 00:03:16,229 --> 00:03:16,239 the the country 157 00:03:16,239 --> 00:03:19,030 the the country uh i have formed an association here 158 00:03:19,030 --> 00:03:19,040 uh i have formed an association here 159 00:03:19,040 --> 00:03:21,670 uh i have formed an association here with uh dr david lotion 160 00:03:21,670 --> 00:03:21,680 with uh dr david lotion 161 00:03:21,680 --> 00:03:23,990 with uh dr david lotion from the university of houston's college 162 00:03:23,990 --> 00:03:24,000 from the university of houston's college 163 00:03:24,000 --> 00:03:26,470 from the university of houston's college of optometry 164 00:03:26,470 --> 00:03:26,480 of optometry 165 00:03:26,480 --> 00:03:29,030 of optometry dave came and sought out what technology 166 00:03:29,030 --> 00:03:29,040 dave came and sought out what technology 167 00:03:29,040 --> 00:03:30,710 dave came and sought out what technology there might be at the 168 00:03:30,710 --> 00:03:30,720 there might be at the 169 00:03:30,720 --> 00:03:32,949 there might be at the johnson space center that 170 00:03:32,949 --> 00:03:32,959 johnson space center that 171 00:03:32,959 --> 00:03:36,149 johnson space center that would assist him in his activities 172 00:03:36,149 --> 00:03:36,159 would assist him in his activities 173 00:03:36,159 --> 00:03:38,229 would assist him in his activities and this is the association that 174 00:03:38,229 --> 00:03:38,239 and this is the association that 175 00:03:38,239 --> 00:03:40,309 and this is the association that resulted 176 00:03:40,309 --> 00:03:40,319 resulted 177 00:03:40,319 --> 00:03:42,229 resulted hello i'm david lotion associate 178 00:03:42,229 --> 00:03:42,239 hello i'm david lotion associate 179 00:03:42,239 --> 00:03:43,750 hello i'm david lotion associate professor and assistant dean at the 180 00:03:43,750 --> 00:03:43,760 professor and assistant dean at the 181 00:03:43,760 --> 00:03:45,110 professor and assistant dean at the university of houston college of 182 00:03:45,110 --> 00:03:45,120 university of houston college of 183 00:03:45,120 --> 00:03:46,470 university of houston college of optometry 184 00:03:46,470 --> 00:03:46,480 optometry 185 00:03:46,480 --> 00:03:48,470 optometry dr richard today and i have developed a 186 00:03:48,470 --> 00:03:48,480 dr richard today and i have developed a 187 00:03:48,480 --> 00:03:50,789 dr richard today and i have developed a collaboration trying to bring some of 188 00:03:50,789 --> 00:03:50,799 collaboration trying to bring some of 189 00:03:50,799 --> 00:03:53,429 collaboration trying to bring some of this nasa technology developed using the 190 00:03:53,429 --> 00:03:53,439 this nasa technology developed using the 191 00:03:53,439 --> 00:03:56,309 this nasa technology developed using the remap programmable remapper to a low 192 00:03:56,309 --> 00:03:56,319 remap programmable remapper to a low 193 00:03:56,319 --> 00:03:57,990 remap programmable remapper to a low vision application 194 00:03:57,990 --> 00:03:58,000 vision application 195 00:03:58,000 --> 00:03:59,750 vision application there are many problems that individuals 196 00:03:59,750 --> 00:03:59,760 there are many problems that individuals 197 00:03:59,760 --> 00:04:01,429 there are many problems that individuals have with low vision 198 00:04:01,429 --> 00:04:01,439 have with low vision 199 00:04:01,439 --> 00:04:04,070 have with low vision these problems usually are associated 200 00:04:04,070 --> 00:04:04,080 these problems usually are associated 201 00:04:04,080 --> 00:04:05,830 these problems usually are associated with visual field defects that is 202 00:04:05,830 --> 00:04:05,840 with visual field defects that is 203 00:04:05,840 --> 00:04:07,429 with visual field defects that is regions of the world that they cannot 204 00:04:07,429 --> 00:04:07,439 regions of the world that they cannot 205 00:04:07,439 --> 00:04:08,869 regions of the world that they cannot see 206 00:04:08,869 --> 00:04:08,879 see 207 00:04:08,879 --> 00:04:09,990 see these can be 208 00:04:09,990 --> 00:04:10,000 these can be 209 00:04:10,000 --> 00:04:12,550 these can be mainly isolated to the central vision as 210 00:04:12,550 --> 00:04:12,560 mainly isolated to the central vision as 211 00:04:12,560 --> 00:04:15,910 mainly isolated to the central vision as in the case of age-related maculopathy 212 00:04:15,910 --> 00:04:15,920 in the case of age-related maculopathy 213 00:04:15,920 --> 00:04:18,469 in the case of age-related maculopathy or in peripheral vision as in the case 214 00:04:18,469 --> 00:04:18,479 or in peripheral vision as in the case 215 00:04:18,479 --> 00:04:21,030 or in peripheral vision as in the case of retinitis pigmentosa these 216 00:04:21,030 --> 00:04:21,040 of retinitis pigmentosa these 217 00:04:21,040 --> 00:04:23,030 of retinitis pigmentosa these individuals have problems with specific 218 00:04:23,030 --> 00:04:23,040 individuals have problems with specific 219 00:04:23,040 --> 00:04:25,430 individuals have problems with specific tasks including reading 220 00:04:25,430 --> 00:04:25,440 tasks including reading 221 00:04:25,440 --> 00:04:27,350 tasks including reading facial recognition 222 00:04:27,350 --> 00:04:27,360 facial recognition 223 00:04:27,360 --> 00:04:30,950 facial recognition object recognition mobility and driving 224 00:04:30,950 --> 00:04:30,960 object recognition mobility and driving 225 00:04:30,960 --> 00:04:34,310 object recognition mobility and driving let me give you some examples of these 226 00:04:34,310 --> 00:04:34,320 let me give you some examples of these 227 00:04:34,320 --> 00:04:35,909 let me give you some examples of these this is the back of the eye or the 228 00:04:35,909 --> 00:04:35,919 this is the back of the eye or the 229 00:04:35,919 --> 00:04:38,790 this is the back of the eye or the retina this individual has age-related 230 00:04:38,790 --> 00:04:38,800 retina this individual has age-related 231 00:04:38,800 --> 00:04:41,110 retina this individual has age-related maculopathy as you notice the central 232 00:04:41,110 --> 00:04:41,120 maculopathy as you notice the central 233 00:04:41,120 --> 00:04:43,189 maculopathy as you notice the central portion of the retina is affected by the 234 00:04:43,189 --> 00:04:43,199 portion of the retina is affected by the 235 00:04:43,199 --> 00:04:45,030 portion of the retina is affected by the disease process 236 00:04:45,030 --> 00:04:45,040 disease process 237 00:04:45,040 --> 00:04:48,550 disease process individuals with this disease 238 00:04:48,550 --> 00:04:48,560 individuals with this disease 239 00:04:48,560 --> 00:04:50,150 individuals with this disease have difficulty 240 00:04:50,150 --> 00:04:50,160 have difficulty 241 00:04:50,160 --> 00:04:52,390 have difficulty reading print because wherever they look 242 00:04:52,390 --> 00:04:52,400 reading print because wherever they look 243 00:04:52,400 --> 00:04:54,950 reading print because wherever they look they will see a region that is missing 244 00:04:54,950 --> 00:04:54,960 they will see a region that is missing 245 00:04:54,960 --> 00:04:57,990 they will see a region that is missing or black 246 00:04:57,990 --> 00:04:58,000 247 00:04:58,000 --> 00:05:00,150 these individuals 248 00:05:00,150 --> 00:05:00,160 these individuals 249 00:05:00,160 --> 00:05:01,830 these individuals these individuals will also have a 250 00:05:01,830 --> 00:05:01,840 these individuals will also have a 251 00:05:01,840 --> 00:05:04,950 these individuals will also have a problem with facial recognition here you 252 00:05:04,950 --> 00:05:04,960 problem with facial recognition here you 253 00:05:04,960 --> 00:05:06,629 problem with facial recognition here you can see the full face a face we all 254 00:05:06,629 --> 00:05:06,639 can see the full face a face we all 255 00:05:06,639 --> 00:05:08,830 can see the full face a face we all recognize but these 256 00:05:08,830 --> 00:05:08,840 recognize but these 257 00:05:08,840 --> 00:05:11,990 recognize but these individuals may see something like this 258 00:05:11,990 --> 00:05:12,000 individuals may see something like this 259 00:05:12,000 --> 00:05:15,110 individuals may see something like this all the detail of the face is missing 260 00:05:15,110 --> 00:05:15,120 all the detail of the face is missing 261 00:05:15,120 --> 00:05:19,590 all the detail of the face is missing in the case of a peripheral field defect 262 00:05:19,590 --> 00:05:19,600 263 00:05:19,600 --> 00:05:21,830 as as here shown with retinitis 264 00:05:21,830 --> 00:05:21,840 as as here shown with retinitis 265 00:05:21,840 --> 00:05:24,230 as as here shown with retinitis pigmentosa again this is the retina or 266 00:05:24,230 --> 00:05:24,240 pigmentosa again this is the retina or 267 00:05:24,240 --> 00:05:25,990 pigmentosa again this is the retina or the back of the eye 268 00:05:25,990 --> 00:05:26,000 the back of the eye 269 00:05:26,000 --> 00:05:29,350 the back of the eye individuals with this disease 270 00:05:29,350 --> 00:05:29,360 individuals with this disease 271 00:05:29,360 --> 00:05:31,430 individuals with this disease will not see a full 272 00:05:31,430 --> 00:05:31,440 will not see a full 273 00:05:31,440 --> 00:05:33,749 will not see a full view of the world but rather a very 274 00:05:33,749 --> 00:05:33,759 view of the world but rather a very 275 00:05:33,759 --> 00:05:36,550 view of the world but rather a very small portion 276 00:05:36,550 --> 00:05:36,560 small portion 277 00:05:36,560 --> 00:05:40,629 small portion or isolated part of the world 278 00:05:40,629 --> 00:05:40,639 or isolated part of the world 279 00:05:40,639 --> 00:05:42,070 or isolated part of the world what we're trying to do with the 280 00:05:42,070 --> 00:05:42,080 what we're trying to do with the 281 00:05:42,080 --> 00:05:43,909 what we're trying to do with the programmable remapper 282 00:05:43,909 --> 00:05:43,919 programmable remapper 283 00:05:43,919 --> 00:05:46,150 programmable remapper is take information that would normally 284 00:05:46,150 --> 00:05:46,160 is take information that would normally 285 00:05:46,160 --> 00:05:48,870 is take information that would normally fall within these defects and bring it 286 00:05:48,870 --> 00:05:48,880 fall within these defects and bring it 287 00:05:48,880 --> 00:05:50,830 fall within these defects and bring it into 288 00:05:50,830 --> 00:05:50,840 into 289 00:05:50,840 --> 00:05:55,029 into the viable retina 290 00:05:55,029 --> 00:05:55,039 291 00:05:55,039 --> 00:05:57,110 let me give you some examples of image 292 00:05:57,110 --> 00:05:57,120 let me give you some examples of image 293 00:05:57,120 --> 00:05:59,749 let me give you some examples of image image warping 294 00:05:59,749 --> 00:05:59,759 image warping 295 00:05:59,759 --> 00:06:01,510 image warping some of these remappings we can show you 296 00:06:01,510 --> 00:06:01,520 some of these remappings we can show you 297 00:06:01,520 --> 00:06:04,230 some of these remappings we can show you applications with a grid here you see a 298 00:06:04,230 --> 00:06:04,240 applications with a grid here you see a 299 00:06:04,240 --> 00:06:06,469 applications with a grid here you see a reduced field of a grid 300 00:06:06,469 --> 00:06:06,479 reduced field of a grid 301 00:06:06,479 --> 00:06:08,870 reduced field of a grid normally someone with a peripheral field 302 00:06:08,870 --> 00:06:08,880 normally someone with a peripheral field 303 00:06:08,880 --> 00:06:11,670 normally someone with a peripheral field defect would be given a a device that 304 00:06:11,670 --> 00:06:11,680 defect would be given a a device that 305 00:06:11,680 --> 00:06:13,909 defect would be given a a device that minifies the entire field this would 306 00:06:13,909 --> 00:06:13,919 minifies the entire field this would 307 00:06:13,919 --> 00:06:15,830 minifies the entire field this would allow more information to go into the 308 00:06:15,830 --> 00:06:15,840 allow more information to go into the 309 00:06:15,840 --> 00:06:17,590 allow more information to go into the central field where they have their 310 00:06:17,590 --> 00:06:17,600 central field where they have their 311 00:06:17,600 --> 00:06:19,749 central field where they have their healthy retina 312 00:06:19,749 --> 00:06:19,759 healthy retina 313 00:06:19,759 --> 00:06:21,909 healthy retina with remapping we can take the 314 00:06:21,909 --> 00:06:21,919 with remapping we can take the 315 00:06:21,919 --> 00:06:23,189 with remapping we can take the information 316 00:06:23,189 --> 00:06:23,199 information 317 00:06:23,199 --> 00:06:23,990 information and 318 00:06:23,990 --> 00:06:24,000 and 319 00:06:24,000 --> 00:06:25,670 and actually 320 00:06:25,670 --> 00:06:25,680 actually 321 00:06:25,680 --> 00:06:27,350 actually show more information in the central 322 00:06:27,350 --> 00:06:27,360 show more information in the central 323 00:06:27,360 --> 00:06:29,990 show more information in the central field or a larger portion larger in the 324 00:06:29,990 --> 00:06:30,000 field or a larger portion larger in the 325 00:06:30,000 --> 00:06:32,390 field or a larger portion larger in the central field and gradually go off into 326 00:06:32,390 --> 00:06:32,400 central field and gradually go off into 327 00:06:32,400 --> 00:06:34,390 central field and gradually go off into the periphery and here we can get the 328 00:06:34,390 --> 00:06:34,400 the periphery and here we can get the 329 00:06:34,400 --> 00:06:36,710 the periphery and here we can get the central field exactly the same size as 330 00:06:36,710 --> 00:06:36,720 central field exactly the same size as 331 00:06:36,720 --> 00:06:39,270 central field exactly the same size as our reduced field but we had more 332 00:06:39,270 --> 00:06:39,280 our reduced field but we had more 333 00:06:39,280 --> 00:06:40,950 our reduced field but we had more information in the periphery of the 334 00:06:40,950 --> 00:06:40,960 information in the periphery of the 335 00:06:40,960 --> 00:06:43,830 information in the periphery of the field one of the problems with 336 00:06:43,830 --> 00:06:43,840 field one of the problems with 337 00:06:43,840 --> 00:06:45,670 field one of the problems with overall minification 338 00:06:45,670 --> 00:06:45,680 overall minification 339 00:06:45,680 --> 00:06:48,550 overall minification is that people lose localization within 340 00:06:48,550 --> 00:06:48,560 is that people lose localization within 341 00:06:48,560 --> 00:06:50,070 is that people lose localization within the field and they have a hard time 342 00:06:50,070 --> 00:06:50,080 the field and they have a hard time 343 00:06:50,080 --> 00:06:52,230 the field and they have a hard time doing any kind of mobility that is 344 00:06:52,230 --> 00:06:52,240 doing any kind of mobility that is 345 00:06:52,240 --> 00:06:54,070 doing any kind of mobility that is walking 346 00:06:54,070 --> 00:06:54,080 walking 347 00:06:54,080 --> 00:06:56,950 walking in the case of central field defect 348 00:06:56,950 --> 00:06:56,960 in the case of central field defect 349 00:06:56,960 --> 00:06:59,909 in the case of central field defect the information with remapping is pulled 350 00:06:59,909 --> 00:06:59,919 the information with remapping is pulled 351 00:06:59,919 --> 00:07:02,629 the information with remapping is pulled outside of the central defect you can 352 00:07:02,629 --> 00:07:02,639 outside of the central defect you can 353 00:07:02,639 --> 00:07:04,870 outside of the central defect you can see here a line coming down will 354 00:07:04,870 --> 00:07:04,880 see here a line coming down will 355 00:07:04,880 --> 00:07:07,189 see here a line coming down will actually be remapped around 356 00:07:07,189 --> 00:07:07,199 actually be remapped around 357 00:07:07,199 --> 00:07:09,350 actually be remapped around the field effect 358 00:07:09,350 --> 00:07:09,360 the field effect 359 00:07:09,360 --> 00:07:11,189 the field effect notice that we don't have this 360 00:07:11,189 --> 00:07:11,199 notice that we don't have this 361 00:07:11,199 --> 00:07:13,670 notice that we don't have this distortion throughout the field but just 362 00:07:13,670 --> 00:07:13,680 distortion throughout the field but just 363 00:07:13,680 --> 00:07:17,510 distortion throughout the field but just around the defect we don't have to 364 00:07:17,510 --> 00:07:17,520 around the defect we don't have to 365 00:07:17,520 --> 00:07:19,670 around the defect we don't have to remap the entire field instead we can 366 00:07:19,670 --> 00:07:19,680 remap the entire field instead we can 367 00:07:19,680 --> 00:07:21,270 remap the entire field instead we can only do part of it 368 00:07:21,270 --> 00:07:21,280 only do part of it 369 00:07:21,280 --> 00:07:23,029 only do part of it here is a partial remapping where we're 370 00:07:23,029 --> 00:07:23,039 here is a partial remapping where we're 371 00:07:23,039 --> 00:07:24,629 here is a partial remapping where we're not taking all the information that 372 00:07:24,629 --> 00:07:24,639 not taking all the information that 373 00:07:24,639 --> 00:07:26,870 not taking all the information that would fall behind the defect but just 374 00:07:26,870 --> 00:07:26,880 would fall behind the defect but just 375 00:07:26,880 --> 00:07:29,270 would fall behind the defect but just part of that information 376 00:07:29,270 --> 00:07:29,280 part of that information 377 00:07:29,280 --> 00:07:31,510 part of that information now this can be applied to 378 00:07:31,510 --> 00:07:31,520 now this can be applied to 379 00:07:31,520 --> 00:07:34,309 now this can be applied to application of reading 380 00:07:34,309 --> 00:07:34,319 application of reading 381 00:07:34,319 --> 00:07:37,189 application of reading as you can see here information is lost 382 00:07:37,189 --> 00:07:37,199 as you can see here information is lost 383 00:07:37,199 --> 00:07:39,189 as you can see here information is lost behind the defect and it'll be difficult 384 00:07:39,189 --> 00:07:39,199 behind the defect and it'll be difficult 385 00:07:39,199 --> 00:07:41,510 behind the defect and it'll be difficult to read across the line 386 00:07:41,510 --> 00:07:41,520 to read across the line 387 00:07:41,520 --> 00:07:43,830 to read across the line by remapping we can take information 388 00:07:43,830 --> 00:07:43,840 by remapping we can take information 389 00:07:43,840 --> 00:07:45,589 by remapping we can take information that would normally fall with behind 390 00:07:45,589 --> 00:07:45,599 that would normally fall with behind 391 00:07:45,599 --> 00:07:48,230 that would normally fall with behind this defect and remap it outside there 392 00:07:48,230 --> 00:07:48,240 this defect and remap it outside there 393 00:07:48,240 --> 00:07:50,390 this defect and remap it outside there is slight distortion but the letters are 394 00:07:50,390 --> 00:07:50,400 is slight distortion but the letters are 395 00:07:50,400 --> 00:07:51,749 is slight distortion but the letters are still legible 396 00:07:51,749 --> 00:07:51,759 still legible 397 00:07:51,759 --> 00:07:54,629 still legible for example to eat you we cannot see 398 00:07:54,629 --> 00:07:54,639 for example to eat you we cannot see 399 00:07:54,639 --> 00:07:57,270 for example to eat you we cannot see this here but to eat you up the word up 400 00:07:57,270 --> 00:07:57,280 this here but to eat you up the word up 401 00:07:57,280 --> 00:07:59,510 this here but to eat you up the word up is pulled out of the defect 402 00:07:59,510 --> 00:07:59,520 is pulled out of the defect 403 00:07:59,520 --> 00:08:02,070 is pulled out of the defect this would make it easier we believe for 404 00:08:02,070 --> 00:08:02,080 this would make it easier we believe for 405 00:08:02,080 --> 00:08:05,990 this would make it easier we believe for individuals to read text 406 00:08:05,990 --> 00:08:06,000 407 00:08:06,000 --> 00:08:07,990 we can also apply this to facial 408 00:08:07,990 --> 00:08:08,000 we can also apply this to facial 409 00:08:08,000 --> 00:08:09,749 we can also apply this to facial recognition 410 00:08:09,749 --> 00:08:09,759 recognition 411 00:08:09,759 --> 00:08:11,909 recognition individuals with the central defects 412 00:08:11,909 --> 00:08:11,919 individuals with the central defects 413 00:08:11,919 --> 00:08:14,230 individuals with the central defects would see we can pull the information 414 00:08:14,230 --> 00:08:14,240 would see we can pull the information 415 00:08:14,240 --> 00:08:16,230 would see we can pull the information out of the defect you can see here what 416 00:08:16,230 --> 00:08:16,240 out of the defect you can see here what 417 00:08:16,240 --> 00:08:18,150 out of the defect you can see here what happens when we do a complete remapping 418 00:08:18,150 --> 00:08:18,160 happens when we do a complete remapping 419 00:08:18,160 --> 00:08:19,990 happens when we do a complete remapping we get a lot of distortion 420 00:08:19,990 --> 00:08:20,000 we get a lot of distortion 421 00:08:20,000 --> 00:08:22,230 we get a lot of distortion however with a partial remapping we can 422 00:08:22,230 --> 00:08:22,240 however with a partial remapping we can 423 00:08:22,240 --> 00:08:24,790 however with a partial remapping we can get features outside of defect that may 424 00:08:24,790 --> 00:08:24,800 get features outside of defect that may 425 00:08:24,800 --> 00:08:31,909 get features outside of defect that may indeed help individuals recognize faces 426 00:08:31,909 --> 00:08:31,919 427 00:08:31,919 --> 00:08:33,350 well let's talk about what we might be 428 00:08:33,350 --> 00:08:33,360 well let's talk about what we might be 429 00:08:33,360 --> 00:08:35,350 well let's talk about what we might be able to do with some 430 00:08:35,350 --> 00:08:35,360 able to do with some 431 00:08:35,360 --> 00:08:37,269 able to do with some field remapping with the machine that we 432 00:08:37,269 --> 00:08:37,279 field remapping with the machine that we 433 00:08:37,279 --> 00:08:38,870 field remapping with the machine that we have here dave 434 00:08:38,870 --> 00:08:38,880 have here dave 435 00:08:38,880 --> 00:08:40,790 have here dave suppose that a normal person's field of 436 00:08:40,790 --> 00:08:40,800 suppose that a normal person's field of 437 00:08:40,800 --> 00:08:42,070 suppose that a normal person's field of view 438 00:08:42,070 --> 00:08:42,080 view 439 00:08:42,080 --> 00:08:44,310 view were 440 00:08:44,310 --> 00:08:44,320 were 441 00:08:44,320 --> 00:08:46,310 were about that size uh 442 00:08:46,310 --> 00:08:46,320 about that size uh 443 00:08:46,320 --> 00:08:48,470 about that size uh then uh what might a person with uh with 444 00:08:48,470 --> 00:08:48,480 then uh what might a person with uh with 445 00:08:48,480 --> 00:08:49,829 then uh what might a person with uh with the pigmentosa 446 00:08:49,829 --> 00:08:49,839 the pigmentosa 447 00:08:49,839 --> 00:08:51,509 the pigmentosa retinitis pigmentosa that you were 448 00:08:51,509 --> 00:08:51,519 retinitis pigmentosa that you were 449 00:08:51,519 --> 00:08:53,430 retinitis pigmentosa that you were mentioning what might they see well 450 00:08:53,430 --> 00:08:53,440 mentioning what might they see well 451 00:08:53,440 --> 00:08:55,350 mentioning what might they see well richard obviously has a lot of forms of 452 00:08:55,350 --> 00:08:55,360 richard obviously has a lot of forms of 453 00:08:55,360 --> 00:08:57,829 richard obviously has a lot of forms of disease but they would be left with a 454 00:08:57,829 --> 00:08:57,839 disease but they would be left with a 455 00:08:57,839 --> 00:08:59,190 disease but they would be left with a central region 456 00:08:59,190 --> 00:08:59,200 central region 457 00:08:59,200 --> 00:09:01,269 central region of of good vision and this disease 458 00:09:01,269 --> 00:09:01,279 of of good vision and this disease 459 00:09:01,279 --> 00:09:03,269 of of good vision and this disease progresses any information that would 460 00:09:03,269 --> 00:09:03,279 progresses any information that would 461 00:09:03,279 --> 00:09:05,110 progresses any information that would fall out in the periphery here would 462 00:09:05,110 --> 00:09:05,120 fall out in the periphery here would 463 00:09:05,120 --> 00:09:07,030 fall out in the periphery here would actually be lost 464 00:09:07,030 --> 00:09:07,040 actually be lost 465 00:09:07,040 --> 00:09:08,389 actually be lost they just wouldn't be able to see that 466 00:09:08,389 --> 00:09:08,399 they just wouldn't be able to see that 467 00:09:08,399 --> 00:09:09,590 they just wouldn't be able to see that they wouldn't be able to see that they'd 468 00:09:09,590 --> 00:09:09,600 they wouldn't be able to see that they'd 469 00:09:09,600 --> 00:09:11,590 they wouldn't be able to see that they'd have a very restricted field of view uh 470 00:09:11,590 --> 00:09:11,600 have a very restricted field of view uh 471 00:09:11,600 --> 00:09:13,110 have a very restricted field of view uh that looks pretty severe that might be 472 00:09:13,110 --> 00:09:13,120 that looks pretty severe that might be 473 00:09:13,120 --> 00:09:14,550 that looks pretty severe that might be like looking through a 474 00:09:14,550 --> 00:09:14,560 like looking through a 475 00:09:14,560 --> 00:09:16,310 like looking through a paper towel tube 476 00:09:16,310 --> 00:09:16,320 paper towel tube 477 00:09:16,320 --> 00:09:17,350 paper towel tube uh 478 00:09:17,350 --> 00:09:17,360 uh 479 00:09:17,360 --> 00:09:19,509 uh well the the obvious thing to do is uh 480 00:09:19,509 --> 00:09:19,519 well the the obvious thing to do is uh 481 00:09:19,519 --> 00:09:20,949 well the the obvious thing to do is uh just use a telescope turn it around 482 00:09:20,949 --> 00:09:20,959 just use a telescope turn it around 483 00:09:20,959 --> 00:09:23,269 just use a telescope turn it around backwards and shrink the whole the whole 484 00:09:23,269 --> 00:09:23,279 backwards and shrink the whole the whole 485 00:09:23,279 --> 00:09:24,790 backwards and shrink the whole the whole field of view into that 486 00:09:24,790 --> 00:09:24,800 field of view into that 487 00:09:24,800 --> 00:09:26,630 field of view into that that's what's done right now for the 488 00:09:26,630 --> 00:09:26,640 that's what's done right now for the 489 00:09:26,640 --> 00:09:28,630 that's what's done right now for the optical aid that we give individuals the 490 00:09:28,630 --> 00:09:28,640 optical aid that we give individuals the 491 00:09:28,640 --> 00:09:30,710 optical aid that we give individuals the one problem with that is that first of 492 00:09:30,710 --> 00:09:30,720 one problem with that is that first of 493 00:09:30,720 --> 00:09:33,110 one problem with that is that first of all they lose a lot of the resolution 494 00:09:33,110 --> 00:09:33,120 all they lose a lot of the resolution 495 00:09:33,120 --> 00:09:34,710 all they lose a lot of the resolution but making things so small they can't 496 00:09:34,710 --> 00:09:34,720 but making things so small they can't 497 00:09:34,720 --> 00:09:37,590 but making things so small they can't pick out objects in the field secondly 498 00:09:37,590 --> 00:09:37,600 pick out objects in the field secondly 499 00:09:37,600 --> 00:09:39,670 pick out objects in the field secondly there's problem with localization when 500 00:09:39,670 --> 00:09:39,680 there's problem with localization when 501 00:09:39,680 --> 00:09:41,030 there's problem with localization when you reduce everything and you put your 502 00:09:41,030 --> 00:09:41,040 you reduce everything and you put your 503 00:09:41,040 --> 00:09:42,630 you reduce everything and you put your hand into the field it's hard to tell 504 00:09:42,630 --> 00:09:42,640 hand into the field it's hard to tell 505 00:09:42,640 --> 00:09:44,470 hand into the field it's hard to tell where your hand is relative relative to 506 00:09:44,470 --> 00:09:44,480 where your hand is relative relative to 507 00:09:44,480 --> 00:09:46,790 where your hand is relative relative to objects uh and i think if i were walking 508 00:09:46,790 --> 00:09:46,800 objects uh and i think if i were walking 509 00:09:46,800 --> 00:09:48,949 objects uh and i think if i were walking down the hall looking through a paper 510 00:09:48,949 --> 00:09:48,959 down the hall looking through a paper 511 00:09:48,959 --> 00:09:50,550 down the hall looking through a paper towel too i might bump into things too 512 00:09:50,550 --> 00:09:50,560 towel too i might bump into things too 513 00:09:50,560 --> 00:09:51,990 towel too i might bump into things too that's true you have a lot of difficulty 514 00:09:51,990 --> 00:09:52,000 that's true you have a lot of difficulty 515 00:09:52,000 --> 00:09:54,949 that's true you have a lot of difficulty with mobility all right so uh what what 516 00:09:54,949 --> 00:09:54,959 with mobility all right so uh what what 517 00:09:54,959 --> 00:09:56,949 with mobility all right so uh what what i think i hear you saying is that in the 518 00:09:56,949 --> 00:09:56,959 i think i hear you saying is that in the 519 00:09:56,959 --> 00:09:58,710 i think i hear you saying is that in the center you'd like to 520 00:09:58,710 --> 00:09:58,720 center you'd like to 521 00:09:58,720 --> 00:10:02,310 center you'd like to maintain a fairly high resolution of the 522 00:10:02,310 --> 00:10:02,320 maintain a fairly high resolution of the 523 00:10:02,320 --> 00:10:04,470 maintain a fairly high resolution of the object that we're looking at but bring 524 00:10:04,470 --> 00:10:04,480 object that we're looking at but bring 525 00:10:04,480 --> 00:10:05,590 object that we're looking at but bring some of these 526 00:10:05,590 --> 00:10:05,600 some of these 527 00:10:05,600 --> 00:10:07,910 some of these picture elements that uh that used to be 528 00:10:07,910 --> 00:10:07,920 picture elements that uh that used to be 529 00:10:07,920 --> 00:10:09,509 picture elements that uh that used to be outside the 530 00:10:09,509 --> 00:10:09,519 outside the 531 00:10:09,519 --> 00:10:11,590 outside the uh the field of view because of the 532 00:10:11,590 --> 00:10:11,600 uh the field of view because of the 533 00:10:11,600 --> 00:10:14,550 uh the field of view because of the defect and then let them jam up a little 534 00:10:14,550 --> 00:10:14,560 defect and then let them jam up a little 535 00:10:14,560 --> 00:10:16,150 defect and then let them jam up a little more closely together 536 00:10:16,150 --> 00:10:16,160 more closely together 537 00:10:16,160 --> 00:10:18,389 more closely together so that we we have uh picture elements 538 00:10:18,389 --> 00:10:18,399 so that we we have uh picture elements 539 00:10:18,399 --> 00:10:19,829 so that we we have uh picture elements spaced widely here but but close 540 00:10:19,829 --> 00:10:19,839 spaced widely here but but close 541 00:10:19,839 --> 00:10:22,069 spaced widely here but but close together and the periphery of the 542 00:10:22,069 --> 00:10:22,079 together and the periphery of the 543 00:10:22,079 --> 00:10:23,910 together and the periphery of the remaining part would would that work i 544 00:10:23,910 --> 00:10:23,920 remaining part would would that work i 545 00:10:23,920 --> 00:10:25,110 remaining part would would that work i think it would work 546 00:10:25,110 --> 00:10:25,120 think it would work 547 00:10:25,120 --> 00:10:26,870 think it would work obviously when you jam up your your 548 00:10:26,870 --> 00:10:26,880 obviously when you jam up your your 549 00:10:26,880 --> 00:10:28,389 obviously when you jam up your your elements here you're going to get some 550 00:10:28,389 --> 00:10:28,399 elements here you're going to get some 551 00:10:28,399 --> 00:10:30,630 elements here you're going to get some distortion but again it won't make that 552 00:10:30,630 --> 00:10:30,640 distortion but again it won't make that 553 00:10:30,640 --> 00:10:32,389 distortion but again it won't make that much difference about the distortion in 554 00:10:32,389 --> 00:10:32,399 much difference about the distortion in 555 00:10:32,399 --> 00:10:33,670 much difference about the distortion in that you could tell there's an object 556 00:10:33,670 --> 00:10:33,680 that you could tell there's an object 557 00:10:33,680 --> 00:10:35,030 that you could tell there's an object out there whether you can actually tell 558 00:10:35,030 --> 00:10:35,040 out there whether you can actually tell 559 00:10:35,040 --> 00:10:36,710 out there whether you can actually tell what the object is is not as important 560 00:10:36,710 --> 00:10:36,720 what the object is is not as important 561 00:10:36,720 --> 00:10:39,350 what the object is is not as important as being able to navigate around it okay 562 00:10:39,350 --> 00:10:39,360 as being able to navigate around it okay 563 00:10:39,360 --> 00:10:41,910 as being able to navigate around it okay so the motion cues that you normally 564 00:10:41,910 --> 00:10:41,920 so the motion cues that you normally 565 00:10:41,920 --> 00:10:44,150 so the motion cues that you normally have if say as you walk down the hall 566 00:10:44,150 --> 00:10:44,160 have if say as you walk down the hall 567 00:10:44,160 --> 00:10:46,470 have if say as you walk down the hall and things move by you in your 568 00:10:46,470 --> 00:10:46,480 and things move by you in your 569 00:10:46,480 --> 00:10:48,310 and things move by you in your perspective uh you can see that they're 570 00:10:48,310 --> 00:10:48,320 perspective uh you can see that they're 571 00:10:48,320 --> 00:10:50,069 perspective uh you can see that they're moving without being able necessarily to 572 00:10:50,069 --> 00:10:50,079 moving without being able necessarily to 573 00:10:50,079 --> 00:10:52,710 moving without being able necessarily to read the sign or tell what it is 574 00:10:52,710 --> 00:10:52,720 read the sign or tell what it is 575 00:10:52,720 --> 00:10:54,150 read the sign or tell what it is so we might be able to retain some of 576 00:10:54,150 --> 00:10:54,160 so we might be able to retain some of 577 00:10:54,160 --> 00:10:55,829 so we might be able to retain some of that i think so yes all right well let's 578 00:10:55,829 --> 00:10:55,839 that i think so yes all right well let's 579 00:10:55,839 --> 00:10:57,190 that i think so yes all right well let's go give it a try i think i know how to 580 00:10:57,190 --> 00:10:57,200 go give it a try i think i know how to 581 00:10:57,200 --> 00:11:01,030 go give it a try i think i know how to do that 582 00:11:01,030 --> 00:11:01,040 583 00:11:01,040 --> 00:11:03,670 what we have here is the programmable 584 00:11:03,670 --> 00:11:03,680 what we have here is the programmable 585 00:11:03,680 --> 00:11:05,190 what we have here is the programmable remapper itself 586 00:11:05,190 --> 00:11:05,200 remapper itself 587 00:11:05,200 --> 00:11:08,230 remapper itself in the box underneath the monitor it was 588 00:11:08,230 --> 00:11:08,240 in the box underneath the monitor it was 589 00:11:08,240 --> 00:11:11,190 in the box underneath the monitor it was manufactured at texas instruments to 590 00:11:11,190 --> 00:11:11,200 manufactured at texas instruments to 591 00:11:11,200 --> 00:11:13,030 manufactured at texas instruments to specifications laid out here at the 592 00:11:13,030 --> 00:11:13,040 specifications laid out here at the 593 00:11:13,040 --> 00:11:14,470 specifications laid out here at the johnson space center 594 00:11:14,470 --> 00:11:14,480 johnson space center 595 00:11:14,480 --> 00:11:16,069 johnson space center some of the design is there some of it 596 00:11:16,069 --> 00:11:16,079 some of the design is there some of it 597 00:11:16,079 --> 00:11:19,829 some of the design is there some of it is ours it functions by taking a video 598 00:11:19,829 --> 00:11:19,839 is ours it functions by taking a video 599 00:11:19,839 --> 00:11:22,470 is ours it functions by taking a video image as from this camera 600 00:11:22,470 --> 00:11:22,480 image as from this camera 601 00:11:22,480 --> 00:11:25,350 image as from this camera and that that video signal is fed into 602 00:11:25,350 --> 00:11:25,360 and that that video signal is fed into 603 00:11:25,360 --> 00:11:27,030 and that that video signal is fed into the remapper 604 00:11:27,030 --> 00:11:27,040 the remapper 605 00:11:27,040 --> 00:11:28,470 the remapper their 606 00:11:28,470 --> 00:11:28,480 their 607 00:11:28,480 --> 00:11:31,590 their coefficients that have been calculated 608 00:11:31,590 --> 00:11:31,600 coefficients that have been calculated 609 00:11:31,600 --> 00:11:33,350 coefficients that have been calculated offline and are 610 00:11:33,350 --> 00:11:33,360 offline and are 611 00:11:33,360 --> 00:11:36,069 offline and are entered into the remapper by 612 00:11:36,069 --> 00:11:36,079 entered into the remapper by 613 00:11:36,079 --> 00:11:38,389 entered into the remapper by floppy disks 614 00:11:38,389 --> 00:11:38,399 floppy disks 615 00:11:38,399 --> 00:11:40,630 floppy disks those coefficients are used to push 616 00:11:40,630 --> 00:11:40,640 those coefficients are used to push 617 00:11:40,640 --> 00:11:42,710 those coefficients are used to push picture elements around 618 00:11:42,710 --> 00:11:42,720 picture elements around 619 00:11:42,720 --> 00:11:46,389 picture elements around and to create a display in which a 620 00:11:46,389 --> 00:11:46,399 and to create a display in which a 621 00:11:46,399 --> 00:11:49,190 and to create a display in which a warping has occurred 622 00:11:49,190 --> 00:11:49,200 warping has occurred 623 00:11:49,200 --> 00:11:51,990 warping has occurred now after that image has been warped 624 00:11:51,990 --> 00:11:52,000 now after that image has been warped 625 00:11:52,000 --> 00:11:54,389 now after that image has been warped in this case it is brought back and 626 00:11:54,389 --> 00:11:54,399 in this case it is brought back and 627 00:11:54,399 --> 00:11:57,110 in this case it is brought back and displayed here to a person who 628 00:11:57,110 --> 00:11:57,120 displayed here to a person who 629 00:11:57,120 --> 00:11:59,509 displayed here to a person who is wearing this uh 630 00:11:59,509 --> 00:11:59,519 is wearing this uh 631 00:11:59,519 --> 00:12:01,750 is wearing this uh helmet that 632 00:12:01,750 --> 00:12:01,760 helmet that 633 00:12:01,760 --> 00:12:04,069 helmet that was manufactured at the 634 00:12:04,069 --> 00:12:04,079 was manufactured at the 635 00:12:04,079 --> 00:12:07,670 was manufactured at the at the university of houston 636 00:12:07,670 --> 00:12:07,680 at the university of houston 637 00:12:07,680 --> 00:12:08,550 at the university of houston the 638 00:12:08,550 --> 00:12:08,560 the 639 00:12:08,560 --> 00:12:10,629 the displays here show 640 00:12:10,629 --> 00:12:10,639 displays here show 641 00:12:10,639 --> 00:12:14,069 displays here show what the remapped image is and uh they 642 00:12:14,069 --> 00:12:14,079 what the remapped image is and uh they 643 00:12:14,079 --> 00:12:15,990 what the remapped image is and uh they are shown to the left and to the right 644 00:12:15,990 --> 00:12:16,000 are shown to the left and to the right 645 00:12:16,000 --> 00:12:19,110 are shown to the left and to the right eyes the same image is uh i will see 646 00:12:19,110 --> 00:12:19,120 eyes the same image is uh i will see 647 00:12:19,120 --> 00:12:20,150 eyes the same image is uh i will see here 648 00:12:20,150 --> 00:12:20,160 here 649 00:12:20,160 --> 00:12:23,269 here as dave will see on the monitor 650 00:12:23,269 --> 00:12:23,279 as dave will see on the monitor 651 00:12:23,279 --> 00:12:25,350 as dave will see on the monitor and 652 00:12:25,350 --> 00:12:25,360 and 653 00:12:25,360 --> 00:12:28,230 and so we'll now try on the lightweight 654 00:12:28,230 --> 00:12:28,240 so we'll now try on the lightweight 655 00:12:28,240 --> 00:12:30,069 so we'll now try on the lightweight summer version of the 656 00:12:30,069 --> 00:12:30,079 summer version of the 657 00:12:30,079 --> 00:12:32,710 summer version of the darth vader helmet should point out also 658 00:12:32,710 --> 00:12:32,720 darth vader helmet should point out also 659 00:12:32,720 --> 00:12:34,790 darth vader helmet should point out also that this version that we have built 660 00:12:34,790 --> 00:12:34,800 that this version that we have built 661 00:12:34,800 --> 00:12:36,710 that this version that we have built here is mainly for testing this is not 662 00:12:36,710 --> 00:12:36,720 here is mainly for testing this is not 663 00:12:36,720 --> 00:12:38,389 here is mainly for testing this is not going to be the low vision device that 664 00:12:38,389 --> 00:12:38,399 going to be the low vision device that 665 00:12:38,399 --> 00:12:41,269 going to be the low vision device that ultimately this will be used with 666 00:12:41,269 --> 00:12:41,279 ultimately this will be used with 667 00:12:41,279 --> 00:12:42,629 ultimately this will be used with the 668 00:12:42,629 --> 00:12:42,639 the 669 00:12:42,639 --> 00:12:45,910 the monitor or we have to set up a system 670 00:12:45,910 --> 00:12:45,920 monitor or we have to set up a system 671 00:12:45,920 --> 00:12:47,269 monitor or we have to set up a system like this so that we could do the 672 00:12:47,269 --> 00:12:47,279 like this so that we could do the 673 00:12:47,279 --> 00:12:49,110 like this so that we could do the testing to see how useful and how 674 00:12:49,110 --> 00:12:49,120 testing to see how useful and how 675 00:12:49,120 --> 00:12:51,110 testing to see how useful and how feasible this type of remapping will be 676 00:12:51,110 --> 00:12:51,120 feasible this type of remapping will be 677 00:12:51,120 --> 00:12:53,910 feasible this type of remapping will be for patients with low vision 678 00:12:53,910 --> 00:12:53,920 for patients with low vision 679 00:12:53,920 --> 00:12:55,990 for patients with low vision all right so what transform do you have 680 00:12:55,990 --> 00:12:56,000 all right so what transform do you have 681 00:12:56,000 --> 00:12:57,269 all right so what transform do you have put in here dave what are we looking for 682 00:12:57,269 --> 00:12:57,279 put in here dave what are we looking for 683 00:12:57,279 --> 00:12:58,870 put in here dave what are we looking for this is a full field we really haven't 684 00:12:58,870 --> 00:12:58,880 this is a full field we really haven't 685 00:12:58,880 --> 00:13:00,550 this is a full field we really haven't done any transform at all actually we're 686 00:13:00,550 --> 00:13:00,560 done any transform at all actually we're 687 00:13:00,560 --> 00:13:02,870 done any transform at all actually we're just taking the input and 688 00:13:02,870 --> 00:13:02,880 just taking the input and 689 00:13:02,880 --> 00:13:04,470 just taking the input and displaying it as an output we're not 690 00:13:04,470 --> 00:13:04,480 displaying it as an output we're not 691 00:13:04,480 --> 00:13:05,750 displaying it as an output we're not changing the transport we're not 692 00:13:05,750 --> 00:13:05,760 changing the transport we're not 693 00:13:05,760 --> 00:13:08,310 changing the transport we're not changing the image at all 694 00:13:08,310 --> 00:13:08,320 changing the image at all 695 00:13:08,320 --> 00:13:10,790 changing the image at all okay so here we are looking at some 696 00:13:10,790 --> 00:13:10,800 okay so here we are looking at some 697 00:13:10,800 --> 00:13:13,670 okay so here we are looking at some letters on a chart 698 00:13:13,670 --> 00:13:13,680 letters on a chart 699 00:13:13,680 --> 00:13:15,590 letters on a chart this is actually not remapped at all 700 00:13:15,590 --> 00:13:15,600 this is actually not remapped at all 701 00:13:15,600 --> 00:13:17,509 this is actually not remapped at all richard there what we're taking is the 702 00:13:17,509 --> 00:13:17,519 richard there what we're taking is the 703 00:13:17,519 --> 00:13:19,670 richard there what we're taking is the direct input into the into the remapper 704 00:13:19,670 --> 00:13:19,680 direct input into the into the remapper 705 00:13:19,680 --> 00:13:22,550 direct input into the into the remapper and it's coming out as as it goes in 706 00:13:22,550 --> 00:13:22,560 and it's coming out as as it goes in 707 00:13:22,560 --> 00:13:23,910 and it's coming out as as it goes in uh this would be 708 00:13:23,910 --> 00:13:23,920 uh this would be 709 00:13:23,920 --> 00:13:26,629 uh this would be simulation simulating a full field okay 710 00:13:26,629 --> 00:13:26,639 simulation simulating a full field okay 711 00:13:26,639 --> 00:13:29,750 simulation simulating a full field okay so i should regard this as my normal 712 00:13:29,750 --> 00:13:29,760 so i should regard this as my normal 713 00:13:29,760 --> 00:13:31,269 so i should regard this as my normal field of view as i look around the 714 00:13:31,269 --> 00:13:31,279 field of view as i look around the 715 00:13:31,279 --> 00:13:32,790 field of view as i look around the laboratory that's right and quite fine 716 00:13:32,790 --> 00:13:32,800 laboratory that's right and quite fine 717 00:13:32,800 --> 00:13:34,150 laboratory that's right and quite fine to see what we got somebody over there 718 00:13:34,150 --> 00:13:34,160 to see what we got somebody over there 719 00:13:34,160 --> 00:13:36,949 to see what we got somebody over there we can 720 00:13:36,949 --> 00:13:36,959 721 00:13:36,959 --> 00:13:39,829 i think this might work dave 722 00:13:39,829 --> 00:13:39,839 i think this might work dave 723 00:13:39,839 --> 00:13:41,910 i think this might work dave uh all right so this is what i might see 724 00:13:41,910 --> 00:13:41,920 uh all right so this is what i might see 725 00:13:41,920 --> 00:13:43,110 uh all right so this is what i might see with the 726 00:13:43,110 --> 00:13:43,120 with the 727 00:13:43,120 --> 00:13:44,949 with the reduced field of view from 728 00:13:44,949 --> 00:13:44,959 reduced field of view from 729 00:13:44,959 --> 00:13:48,310 reduced field of view from the retinitis pigmentosa yes and you can 730 00:13:48,310 --> 00:13:48,320 the retinitis pigmentosa yes and you can 731 00:13:48,320 --> 00:13:50,150 the retinitis pigmentosa yes and you can try to look around the room and see how 732 00:13:50,150 --> 00:13:50,160 try to look around the room and see how 733 00:13:50,160 --> 00:13:52,389 try to look around the room and see how difficult it is to find objects within 734 00:13:52,389 --> 00:13:52,399 difficult it is to find objects within 735 00:13:52,399 --> 00:13:54,230 difficult it is to find objects within the room 736 00:13:54,230 --> 00:13:54,240 the room 737 00:13:54,240 --> 00:13:56,389 the room i can't see as much of that computer 738 00:13:56,389 --> 00:13:56,399 i can't see as much of that computer 739 00:13:56,399 --> 00:13:58,870 i can't see as much of that computer scene 740 00:13:58,870 --> 00:13:58,880 741 00:13:58,880 --> 00:14:02,150 nor 742 00:14:02,150 --> 00:14:02,160 743 00:14:02,160 --> 00:14:05,750 can i see near so much 744 00:14:05,750 --> 00:14:05,760 745 00:14:05,760 --> 00:14:06,949 of 746 00:14:06,949 --> 00:14:06,959 of 747 00:14:06,959 --> 00:14:12,870 of chuck and that computer over here 748 00:14:12,870 --> 00:14:12,880 749 00:14:12,880 --> 00:14:15,030 okay well that that would be sort of 750 00:14:15,030 --> 00:14:15,040 okay well that that would be sort of 751 00:14:15,040 --> 00:14:20,710 okay well that that would be sort of hard to find things 752 00:14:20,710 --> 00:14:20,720 753 00:14:20,720 --> 00:14:23,030 all right and what is it that 754 00:14:23,030 --> 00:14:23,040 all right and what is it that 755 00:14:23,040 --> 00:14:24,710 all right and what is it that you might be able to do for us here with 756 00:14:24,710 --> 00:14:24,720 you might be able to do for us here with 757 00:14:24,720 --> 00:14:26,949 you might be able to do for us here with uh remapping 758 00:14:26,949 --> 00:14:26,959 uh remapping 759 00:14:26,959 --> 00:14:28,550 uh remapping this is the remapped image as i said 760 00:14:28,550 --> 00:14:28,560 this is the remapped image as i said 761 00:14:28,560 --> 00:14:30,389 this is the remapped image as i said this has quite a bit of remapping on it 762 00:14:30,389 --> 00:14:30,399 this has quite a bit of remapping on it 763 00:14:30,399 --> 00:14:32,949 this has quite a bit of remapping on it we have a very sharp fall off 764 00:14:32,949 --> 00:14:32,959 we have a very sharp fall off 765 00:14:32,959 --> 00:14:34,949 we have a very sharp fall off just to give you one example 766 00:14:34,949 --> 00:14:34,959 just to give you one example 767 00:14:34,959 --> 00:14:36,949 just to give you one example all right so if i want to read the words 768 00:14:36,949 --> 00:14:36,959 all right so if i want to read the words 769 00:14:36,959 --> 00:14:38,790 all right so if i want to read the words i can put them in the center 770 00:14:38,790 --> 00:14:38,800 i can put them in the center 771 00:14:38,800 --> 00:14:40,550 i can put them in the center but i don't lose them as they go off to 772 00:14:40,550 --> 00:14:40,560 but i don't lose them as they go off to 773 00:14:40,560 --> 00:14:43,030 but i don't lose them as they go off to the edge as quickly as i did the other 774 00:14:43,030 --> 00:14:43,040 the edge as quickly as i did the other 775 00:14:43,040 --> 00:14:44,150 the edge as quickly as i did the other time it's 776 00:14:44,150 --> 00:14:44,160 time it's 777 00:14:44,160 --> 00:14:45,750 time it's sort of like looking at a at a beach 778 00:14:45,750 --> 00:14:45,760 sort of like looking at a at a beach 779 00:14:45,760 --> 00:14:48,550 sort of like looking at a at a beach ball 780 00:14:48,550 --> 00:14:48,560 781 00:14:48,560 --> 00:14:52,150 and uh if i go looking around the lab 782 00:14:52,150 --> 00:14:52,160 and uh if i go looking around the lab 783 00:14:52,160 --> 00:14:54,790 and uh if i go looking around the lab i can now see the 784 00:14:54,790 --> 00:14:54,800 i can now see the 785 00:14:54,800 --> 00:14:57,030 i can now see the computer that does not have someone 786 00:14:57,030 --> 00:14:57,040 computer that does not have someone 787 00:14:57,040 --> 00:15:06,389 computer that does not have someone working at it 788 00:15:06,389 --> 00:15:06,399 789 00:15:06,399 --> 00:15:10,069 and let's go look at a chuck over here 790 00:15:10,069 --> 00:15:10,079 and let's go look at a chuck over here 791 00:15:10,079 --> 00:15:14,310 and let's go look at a chuck over here well i can i can see chuck and i can see 792 00:15:14,310 --> 00:15:14,320 well i can i can see chuck and i can see 793 00:15:14,320 --> 00:15:15,670 well i can i can see chuck and i can see the computer 794 00:15:15,670 --> 00:15:15,680 the computer 795 00:15:15,680 --> 00:15:18,710 the computer or and i can resolve the uh the computer 796 00:15:18,710 --> 00:15:18,720 or and i can resolve the uh the computer 797 00:15:18,720 --> 00:15:20,230 or and i can resolve the uh the computer if i want to 798 00:15:20,230 --> 00:15:20,240 if i want to 799 00:15:20,240 --> 00:15:22,550 if i want to by putting it here at the center 800 00:15:22,550 --> 00:15:22,560 by putting it here at the center 801 00:15:22,560 --> 00:15:23,910 by putting it here at the center or i can 802 00:15:23,910 --> 00:15:23,920 or i can 803 00:15:23,920 --> 00:15:26,550 or i can resolve chuck here as well 804 00:15:26,550 --> 00:15:26,560 resolve chuck here as well 805 00:15:26,560 --> 00:15:28,069 resolve chuck here as well and right here i have the computer and 806 00:15:28,069 --> 00:15:28,079 and right here i have the computer and 807 00:15:28,079 --> 00:15:30,470 and right here i have the computer and chuck in the same field and 808 00:15:30,470 --> 00:15:30,480 chuck in the same field and 809 00:15:30,480 --> 00:15:32,069 chuck in the same field and i think that find that a little easier 810 00:15:32,069 --> 00:15:32,079 i think that find that a little easier 811 00:15:32,079 --> 00:15:34,230 i think that find that a little easier to 812 00:15:34,230 --> 00:15:34,240 to 813 00:15:34,240 --> 00:15:36,550 to to use in looking around the uh 814 00:15:36,550 --> 00:15:36,560 to use in looking around the uh 815 00:15:36,560 --> 00:15:39,110 to use in looking around the uh the room and trying to find all of that 816 00:15:39,110 --> 00:15:39,120 the room and trying to find all of that 817 00:15:39,120 --> 00:15:41,590 the room and trying to find all of that well this is all very well for 818 00:15:41,590 --> 00:15:41,600 well this is all very well for 819 00:15:41,600 --> 00:15:43,189 well this is all very well for for me to be looking at 820 00:15:43,189 --> 00:15:43,199 for me to be looking at 821 00:15:43,199 --> 00:15:46,470 for me to be looking at i have reasonably good vision but 822 00:15:46,470 --> 00:15:46,480 i have reasonably good vision but 823 00:15:46,480 --> 00:15:47,910 i have reasonably good vision but how are we going to find out if this is 824 00:15:47,910 --> 00:15:47,920 how are we going to find out if this is 825 00:15:47,920 --> 00:15:49,910 how are we going to find out if this is any good for people who have a real 826 00:15:49,910 --> 00:15:49,920 any good for people who have a real 827 00:15:49,920 --> 00:15:51,910 any good for people who have a real problem well that's our next approach 828 00:15:51,910 --> 00:15:51,920 problem well that's our next approach 829 00:15:51,920 --> 00:15:53,509 problem well that's our next approach richard is we're going to 830 00:15:53,509 --> 00:15:53,519 richard is we're going to 831 00:15:53,519 --> 00:15:55,590 richard is we're going to try to have patients try looking at 832 00:15:55,590 --> 00:15:55,600 try to have patients try looking at 833 00:15:55,600 --> 00:15:57,430 try to have patients try looking at through this device we're going to 834 00:15:57,430 --> 00:15:57,440 through this device we're going to 835 00:15:57,440 --> 00:15:59,110 through this device we're going to solicit patients from both the 836 00:15:59,110 --> 00:15:59,120 solicit patients from both the 837 00:15:59,120 --> 00:16:00,470 solicit patients from both the university of houston college of 838 00:16:00,470 --> 00:16:00,480 university of houston college of 839 00:16:00,480 --> 00:16:03,269 university of houston college of optometry and the lighthouse of houston 840 00:16:03,269 --> 00:16:03,279 optometry and the lighthouse of houston 841 00:16:03,279 --> 00:16:04,629 optometry and the lighthouse of houston these patients will have several 842 00:16:04,629 --> 00:16:04,639 these patients will have several 843 00:16:04,639 --> 00:16:05,509 these patients will have several different 844 00:16:05,509 --> 00:16:05,519 different 845 00:16:05,519 --> 00:16:07,590 different low vision problems and we're going to 846 00:16:07,590 --> 00:16:07,600 low vision problems and we're going to 847 00:16:07,600 --> 00:16:09,670 low vision problems and we're going to try to see how 848 00:16:09,670 --> 00:16:09,680 try to see how 849 00:16:09,680 --> 00:16:11,189 try to see how much better they can see the world with 850 00:16:11,189 --> 00:16:11,199 much better they can see the world with 851 00:16:11,199 --> 00:16:14,629 much better they can see the world with this particular device 852 00:16:14,629 --> 00:16:14,639 853 00:16:14,639 --> 00:16:15,990 well it's uh 854 00:16:15,990 --> 00:16:16,000 well it's uh 855 00:16:16,000 --> 00:16:18,150 well it's uh i'm looking forward to that as a look 856 00:16:18,150 --> 00:16:18,160 i'm looking forward to that as a look 857 00:16:18,160 --> 00:16:20,870 i'm looking forward to that as a look around here this actually seems rather 858 00:16:20,870 --> 00:16:20,880 around here this actually seems rather 859 00:16:20,880 --> 00:16:23,590 around here this actually seems rather easy to get used to 860 00:16:23,590 --> 00:16:23,600 easy to get used to 861 00:16:23,600 --> 00:16:25,749 easy to get used to it'll be nice to get some 862 00:16:25,749 --> 00:16:25,759 it'll be nice to get some 863 00:16:25,759 --> 00:16:27,590 it'll be nice to get some practical experience with it as we 864 00:16:27,590 --> 00:16:27,600 practical experience with it as we 865 00:16:27,600 --> 00:16:29,189 practical experience with it as we stated before also 866 00:16:29,189 --> 00:16:29,199 stated before also 867 00:16:29,199 --> 00:16:32,790 stated before also this device will not be the final device 868 00:16:32,790 --> 00:16:32,800 this device will not be the final device 869 00:16:32,800 --> 00:16:36,470 this device will not be the final device this has to be reduced in size and 870 00:16:36,470 --> 00:16:36,480 this has to be reduced in size and 871 00:16:36,480 --> 00:16:39,030 this has to be reduced in size and obviously cosmesis in order for low fish 872 00:16:39,030 --> 00:16:39,040 obviously cosmesis in order for low fish 873 00:16:39,040 --> 00:16:41,350 obviously cosmesis in order for low fish low vision patients to want to wear 874 00:16:41,350 --> 00:16:41,360 low vision patients to want to wear 875 00:16:41,360 --> 00:16:43,350 low vision patients to want to wear something like it 876 00:16:43,350 --> 00:16:43,360 something like it 877 00:16:43,360 --> 00:16:44,470 something like it some of the 878 00:16:44,470 --> 00:16:44,480 some of the 879 00:16:44,480 --> 00:16:45,990 some of the technology that we 880 00:16:45,990 --> 00:16:46,000 technology that we 881 00:16:46,000 --> 00:16:47,749 technology that we are developing with the remapper has 882 00:16:47,749 --> 00:16:47,759 are developing with the remapper has 883 00:16:47,759 --> 00:16:49,829 are developing with the remapper has also been explored further for us by 884 00:16:49,829 --> 00:16:49,839 also been explored further for us by 885 00:16:49,839 --> 00:16:51,670 also been explored further for us by transitions research corporation they 886 00:16:51,670 --> 00:16:51,680 transitions research corporation they 887 00:16:51,680 --> 00:16:53,990 transitions research corporation they have built some robotic equipment that 888 00:16:53,990 --> 00:16:54,000 have built some robotic equipment that 889 00:16:54,000 --> 00:16:57,910 have built some robotic equipment that use the same kind of technology 890 00:16:57,910 --> 00:16:57,920 891 00:16:57,920 --> 00:17:01,430 our objective here is to have a machine 892 00:17:01,430 --> 00:17:01,440 our objective here is to have a machine 893 00:17:01,440 --> 00:17:03,350 our objective here is to have a machine have some of the same kind of advantages 894 00:17:03,350 --> 00:17:03,360 have some of the same kind of advantages 895 00:17:03,360 --> 00:17:05,350 have some of the same kind of advantages in pattern recognition 896 00:17:05,350 --> 00:17:05,360 in pattern recognition 897 00:17:05,360 --> 00:17:07,189 in pattern recognition that your own 898 00:17:07,189 --> 00:17:07,199 that your own 899 00:17:07,199 --> 00:17:09,350 that your own eye brain combination does in pattern 900 00:17:09,350 --> 00:17:09,360 eye brain combination does in pattern 901 00:17:09,360 --> 00:17:11,750 eye brain combination does in pattern recognition now you're accustomed to 902 00:17:11,750 --> 00:17:11,760 recognition now you're accustomed to 903 00:17:11,760 --> 00:17:13,990 recognition now you're accustomed to looking at an object that would appear 904 00:17:13,990 --> 00:17:14,000 looking at an object that would appear 905 00:17:14,000 --> 00:17:16,230 looking at an object that would appear like so if you were looking at the front 906 00:17:16,230 --> 00:17:16,240 like so if you were looking at the front 907 00:17:16,240 --> 00:17:18,870 like so if you were looking at the front of a space shuttle 908 00:17:18,870 --> 00:17:18,880 of a space shuttle 909 00:17:18,880 --> 00:17:21,189 of a space shuttle but actually what goes on in the back of 910 00:17:21,189 --> 00:17:21,199 but actually what goes on in the back of 911 00:17:21,199 --> 00:17:23,909 but actually what goes on in the back of your head is that this 912 00:17:23,909 --> 00:17:23,919 your head is that this 913 00:17:23,919 --> 00:17:26,230 your head is that this uh this representation 914 00:17:26,230 --> 00:17:26,240 uh this representation 915 00:17:26,240 --> 00:17:28,230 uh this representation as you see think of it out in front of 916 00:17:28,230 --> 00:17:28,240 as you see think of it out in front of 917 00:17:28,240 --> 00:17:29,750 as you see think of it out in front of your of your head 918 00:17:29,750 --> 00:17:29,760 your of your head 919 00:17:29,760 --> 00:17:33,029 your of your head really looks more like this where the 920 00:17:33,029 --> 00:17:33,039 really looks more like this where the 921 00:17:33,039 --> 00:17:35,350 really looks more like this where the there's more area uh 922 00:17:35,350 --> 00:17:35,360 there's more area uh 923 00:17:35,360 --> 00:17:37,750 there's more area uh this corresponds to small radius near 924 00:17:37,750 --> 00:17:37,760 this corresponds to small radius near 925 00:17:37,760 --> 00:17:41,590 this corresponds to small radius near near the center these these uh fins are 926 00:17:41,590 --> 00:17:41,600 near the center these these uh fins are 927 00:17:41,600 --> 00:17:43,510 near the center these these uh fins are these locations the this is what's 928 00:17:43,510 --> 00:17:43,520 these locations the this is what's 929 00:17:43,520 --> 00:17:45,669 these locations the this is what's called a log polar domain where the 930 00:17:45,669 --> 00:17:45,679 called a log polar domain where the 931 00:17:45,679 --> 00:17:47,110 called a log polar domain where the logarithm of the radius is in this 932 00:17:47,110 --> 00:17:47,120 logarithm of the radius is in this 933 00:17:47,120 --> 00:17:48,549 logarithm of the radius is in this direction and the 934 00:17:48,549 --> 00:17:48,559 direction and the 935 00:17:48,559 --> 00:17:50,310 direction and the azimuthal angle 936 00:17:50,310 --> 00:17:50,320 azimuthal angle 937 00:17:50,320 --> 00:17:51,430 azimuthal angle is in 938 00:17:51,430 --> 00:17:51,440 is in 939 00:17:51,440 --> 00:17:53,029 is in the vertical direction 940 00:17:53,029 --> 00:17:53,039 the vertical direction 941 00:17:53,039 --> 00:17:56,950 the vertical direction so uh you see that 942 00:17:56,950 --> 00:17:56,960 943 00:17:56,960 --> 00:18:00,230 there is more area in the brain uh given 944 00:18:00,230 --> 00:18:00,240 there is more area in the brain uh given 945 00:18:00,240 --> 00:18:02,950 there is more area in the brain uh given to the the center of the object now the 946 00:18:02,950 --> 00:18:02,960 to the the center of the object now the 947 00:18:02,960 --> 00:18:04,789 to the the center of the object now the advantage for pattern recognition is 948 00:18:04,789 --> 00:18:04,799 advantage for pattern recognition is 949 00:18:04,799 --> 00:18:06,870 advantage for pattern recognition is that uh as one 950 00:18:06,870 --> 00:18:06,880 that uh as one 951 00:18:06,880 --> 00:18:09,830 that uh as one were to take uh this object and were to 952 00:18:09,830 --> 00:18:09,840 were to take uh this object and were to 953 00:18:09,840 --> 00:18:13,590 were to take uh this object and were to rotate it or to change change size on it 954 00:18:13,590 --> 00:18:13,600 rotate it or to change change size on it 955 00:18:13,600 --> 00:18:17,190 rotate it or to change change size on it that uh as appears uh here in 956 00:18:17,190 --> 00:18:17,200 that uh as appears uh here in 957 00:18:17,200 --> 00:18:19,590 that uh as appears uh here in this lower diagram 958 00:18:19,590 --> 00:18:19,600 this lower diagram 959 00:18:19,600 --> 00:18:23,190 this lower diagram that its representation here uh in the 960 00:18:23,190 --> 00:18:23,200 that its representation here uh in the 961 00:18:23,200 --> 00:18:26,470 that its representation here uh in the log polar domain is merely a translation 962 00:18:26,470 --> 00:18:26,480 log polar domain is merely a translation 963 00:18:26,480 --> 00:18:29,510 log polar domain is merely a translation of what one sees in the 964 00:18:29,510 --> 00:18:29,520 of what one sees in the 965 00:18:29,520 --> 00:18:30,870 of what one sees in the uh 966 00:18:30,870 --> 00:18:30,880 uh 967 00:18:30,880 --> 00:18:33,510 uh in the upper picture so you have you 968 00:18:33,510 --> 00:18:33,520 in the upper picture so you have you 969 00:18:33,520 --> 00:18:35,750 in the upper picture so you have you don't have to remember and learn a 970 00:18:35,750 --> 00:18:35,760 don't have to remember and learn a 971 00:18:35,760 --> 00:18:37,430 don't have to remember and learn a really different representation of the 972 00:18:37,430 --> 00:18:37,440 really different representation of the 973 00:18:37,440 --> 00:18:40,789 really different representation of the object just that it has slid over and 974 00:18:40,789 --> 00:18:40,799 object just that it has slid over and 975 00:18:40,799 --> 00:18:43,750 object just that it has slid over and slid up compared with the 976 00:18:43,750 --> 00:18:43,760 slid up compared with the 977 00:18:43,760 --> 00:18:44,870 slid up compared with the method in which you learned it 978 00:18:44,870 --> 00:18:44,880 method in which you learned it 979 00:18:44,880 --> 00:18:48,070 method in which you learned it originally 980 00:18:48,070 --> 00:18:48,080 981 00:18:48,080 --> 00:18:50,230 now in another simplistic 982 00:18:50,230 --> 00:18:50,240 now in another simplistic 983 00:18:50,240 --> 00:18:53,830 now in another simplistic application of this technology 984 00:18:53,830 --> 00:18:53,840 application of this technology 985 00:18:53,840 --> 00:18:55,510 application of this technology a centering 986 00:18:55,510 --> 00:18:55,520 a centering 987 00:18:55,520 --> 00:18:58,710 a centering algorithm is very easy to implement if 988 00:18:58,710 --> 00:18:58,720 algorithm is very easy to implement if 989 00:18:58,720 --> 00:19:01,669 algorithm is very easy to implement if in some of our space applications 990 00:19:01,669 --> 00:19:01,679 in some of our space applications 991 00:19:01,679 --> 00:19:02,870 in some of our space applications you need to 992 00:19:02,870 --> 00:19:02,880 you need to 993 00:19:02,880 --> 00:19:04,630 you need to track an object 994 00:19:04,630 --> 00:19:04,640 track an object 995 00:19:04,640 --> 00:19:06,470 track an object keep a camera system pointed right 996 00:19:06,470 --> 00:19:06,480 keep a camera system pointed right 997 00:19:06,480 --> 00:19:09,430 keep a camera system pointed right toward the toward that object then 998 00:19:09,430 --> 00:19:09,440 toward the toward that object then 999 00:19:09,440 --> 00:19:11,029 toward the toward that object then in this as a 1000 00:19:11,029 --> 00:19:11,039 in this as a 1001 00:19:11,039 --> 00:19:14,310 in this as a cartesian representation of that object 1002 00:19:14,310 --> 00:19:14,320 cartesian representation of that object 1003 00:19:14,320 --> 00:19:16,710 cartesian representation of that object you can see that in order to center this 1004 00:19:16,710 --> 00:19:16,720 you can see that in order to center this 1005 00:19:16,720 --> 00:19:19,830 you can see that in order to center this object you'd push on it here and let it 1006 00:19:19,830 --> 00:19:19,840 object you'd push on it here and let it 1007 00:19:19,840 --> 00:19:23,510 object you'd push on it here and let it uh protrude further on on on this side 1008 00:19:23,510 --> 00:19:23,520 uh protrude further on on on this side 1009 00:19:23,520 --> 00:19:26,070 uh protrude further on on on this side of these circles well these uh these red 1010 00:19:26,070 --> 00:19:26,080 of these circles well these uh these red 1011 00:19:26,080 --> 00:19:28,390 of these circles well these uh these red and blue circles uh if you were to take 1012 00:19:28,390 --> 00:19:28,400 and blue circles uh if you were to take 1013 00:19:28,400 --> 00:19:30,070 and blue circles uh if you were to take them over here into the 1014 00:19:30,070 --> 00:19:30,080 them over here into the 1015 00:19:30,080 --> 00:19:30,950 them over here into the log 1016 00:19:30,950 --> 00:19:30,960 log 1017 00:19:30,960 --> 00:19:33,510 log polar uh representation 1018 00:19:33,510 --> 00:19:33,520 polar uh representation 1019 00:19:33,520 --> 00:19:35,270 polar uh representation uh become 1020 00:19:35,270 --> 00:19:35,280 uh become 1021 00:19:35,280 --> 00:19:37,430 uh become this vertical straight line that's red 1022 00:19:37,430 --> 00:19:37,440 this vertical straight line that's red 1023 00:19:37,440 --> 00:19:38,950 this vertical straight line that's red and this vertical straight line which is 1024 00:19:38,950 --> 00:19:38,960 and this vertical straight line which is 1025 00:19:38,960 --> 00:19:39,909 and this vertical straight line which is blue 1026 00:19:39,909 --> 00:19:39,919 blue 1027 00:19:39,919 --> 00:19:41,669 blue and you see that in order to center the 1028 00:19:41,669 --> 00:19:41,679 and you see that in order to center the 1029 00:19:41,679 --> 00:19:43,909 and you see that in order to center the object the expression of that action 1030 00:19:43,909 --> 00:19:43,919 object the expression of that action 1031 00:19:43,919 --> 00:19:45,750 object the expression of that action over here becomes find the place where 1032 00:19:45,750 --> 00:19:45,760 over here becomes find the place where 1033 00:19:45,760 --> 00:19:48,870 over here becomes find the place where the object sticks out the farthest and 1034 00:19:48,870 --> 00:19:48,880 the object sticks out the farthest and 1035 00:19:48,880 --> 00:19:51,029 the object sticks out the farthest and in in a purely 1036 00:19:51,029 --> 00:19:51,039 in in a purely 1037 00:19:51,039 --> 00:19:54,710 in in a purely left-right sense and push to the 1038 00:19:54,710 --> 00:19:54,720 left-right sense and push to the 1039 00:19:54,720 --> 00:19:56,710 left-right sense and push to the left on that 1040 00:19:56,710 --> 00:19:56,720 left on that 1041 00:19:56,720 --> 00:19:58,789 left on that that protrusion which will have this 1042 00:19:58,789 --> 00:19:58,799 that protrusion which will have this 1043 00:19:58,799 --> 00:20:00,870 that protrusion which will have this matching protrusion come out when your 1044 00:20:00,870 --> 00:20:00,880 matching protrusion come out when your 1045 00:20:00,880 --> 00:20:03,909 matching protrusion come out when your two highest protrusions are 1046 00:20:03,909 --> 00:20:03,919 two highest protrusions are 1047 00:20:03,919 --> 00:20:06,149 two highest protrusions are the right distance on this chart which 1048 00:20:06,149 --> 00:20:06,159 the right distance on this chart which 1049 00:20:06,159 --> 00:20:08,470 the right distance on this chart which is about like so separated from each 1050 00:20:08,470 --> 00:20:08,480 is about like so separated from each 1051 00:20:08,480 --> 00:20:09,590 is about like so separated from each other 1052 00:20:09,590 --> 00:20:09,600 other 1053 00:20:09,600 --> 00:20:11,190 other then that object is 1054 00:20:11,190 --> 00:20:11,200 then that object is 1055 00:20:11,200 --> 00:20:12,549 then that object is is centered 1056 00:20:12,549 --> 00:20:12,559 is centered 1057 00:20:12,559 --> 00:20:14,630 is centered and that's the algorithm that is 1058 00:20:14,630 --> 00:20:14,640 and that's the algorithm that is 1059 00:20:14,640 --> 00:20:17,110 and that's the algorithm that is implemented in the version of the 1060 00:20:17,110 --> 00:20:17,120 implemented in the version of the 1061 00:20:17,120 --> 00:21:04,549 implemented in the version of the tracking that we will shortly show you 1062 00:21:04,549 --> 00:21:04,559 1063 00:21:04,559 --> 00:21:06,310 okay what should be happening now is 1064 00:21:06,310 --> 00:21:06,320 okay what should be happening now is 1065 00:21:06,320 --> 00:21:07,590 okay what should be happening now is that the 1066 00:21:07,590 --> 00:21:07,600 that the 1067 00:21:07,600 --> 00:21:10,549 that the robot is looking for 1068 00:21:10,549 --> 00:21:10,559 robot is looking for 1069 00:21:10,559 --> 00:21:11,669 robot is looking for the 1070 00:21:11,669 --> 00:21:11,679 the 1071 00:21:11,679 --> 00:21:13,590 the place from which the 1072 00:21:13,590 --> 00:21:13,600 place from which the 1073 00:21:13,600 --> 00:21:15,029 place from which the uh 1074 00:21:15,029 --> 00:21:15,039 uh 1075 00:21:15,039 --> 00:21:17,590 uh docking target bears just the right kind 1076 00:21:17,590 --> 00:21:17,600 docking target bears just the right kind 1077 00:21:17,600 --> 00:21:19,590 docking target bears just the right kind of resemblance to 1078 00:21:19,590 --> 00:21:19,600 of resemblance to 1079 00:21:19,600 --> 00:21:22,230 of resemblance to what it has been told to look for 1080 00:21:22,230 --> 00:21:22,240 what it has been told to look for 1081 00:21:22,240 --> 00:21:24,710 what it has been told to look for uh when it finds that place 1082 00:21:24,710 --> 00:21:24,720 uh when it finds that place 1083 00:21:24,720 --> 00:21:26,710 uh when it finds that place uh 1084 00:21:26,710 --> 00:21:26,720 uh 1085 00:21:26,720 --> 00:21:29,510 uh it will align itself to be on the axis 1086 00:21:29,510 --> 00:21:29,520 it will align itself to be on the axis 1087 00:21:29,520 --> 00:21:30,870 it will align itself to be on the axis of the 1088 00:21:30,870 --> 00:21:30,880 of the 1089 00:21:30,880 --> 00:21:32,870 of the uh of the docking target 1090 00:21:32,870 --> 00:21:32,880 uh of the docking target 1091 00:21:32,880 --> 00:21:35,590 uh of the docking target all all done visually now as a 1092 00:21:35,590 --> 00:21:35,600 all all done visually now as a 1093 00:21:35,600 --> 00:21:38,070 all all done visually now as a machine vision process 1094 00:21:38,070 --> 00:21:38,080 machine vision process 1095 00:21:38,080 --> 00:21:40,630 machine vision process and we'll then uh dock with 1096 00:21:40,630 --> 00:21:40,640 and we'll then uh dock with 1097 00:21:40,640 --> 00:21:42,870 and we'll then uh dock with the uh 1098 00:21:42,870 --> 00:21:42,880 the uh 1099 00:21:42,880 --> 00:21:46,710 the uh with that docking target 1100 00:21:46,710 --> 00:21:46,720 1101 00:21:46,720 --> 00:21:48,470 okay it's looking for the places where 1102 00:21:48,470 --> 00:21:48,480 okay it's looking for the places where 1103 00:21:48,480 --> 00:21:50,950 okay it's looking for the places where the bulges that result from 1104 00:21:50,950 --> 00:21:50,960 the bulges that result from 1105 00:21:50,960 --> 00:21:52,870 the bulges that result from the fact that the 1106 00:21:52,870 --> 00:21:52,880 the fact that the 1107 00:21:52,880 --> 00:21:53,909 the fact that the uh 1108 00:21:53,909 --> 00:21:53,919 uh 1109 00:21:53,919 --> 00:21:56,830 uh box is not a sphere but is instead a 1110 00:21:56,830 --> 00:21:56,840 box is not a sphere but is instead a 1111 00:21:56,840 --> 00:22:00,149 box is not a sphere but is instead a cylinder where those 1112 00:22:00,149 --> 00:22:00,159 cylinder where those 1113 00:22:00,159 --> 00:22:02,310 cylinder where those bulges appear at the right orientation 1114 00:22:02,310 --> 00:22:02,320 bulges appear at the right orientation 1115 00:22:02,320 --> 00:22:05,029 bulges appear at the right orientation in its field of view 1116 00:22:05,029 --> 00:22:05,039 in its field of view 1117 00:22:05,039 --> 00:22:12,630 in its field of view it should be very close to that by now 1118 00:22:12,630 --> 00:22:12,640 1119 00:22:12,640 --> 00:22:27,750 okay 1120 00:22:27,750 --> 00:22:27,760 1121 00:22:27,760 --> 00:22:29,909 what we have here is 1122 00:22:29,909 --> 00:22:29,919 what we have here is 1123 00:22:29,919 --> 00:22:32,149 what we have here is the video the same as you would expect 1124 00:22:32,149 --> 00:22:32,159 the video the same as you would expect 1125 00:22:32,159 --> 00:22:34,789 the video the same as you would expect to see it with uh with your eyes 1126 00:22:34,789 --> 00:22:34,799 to see it with uh with your eyes 1127 00:22:34,799 --> 00:22:36,549 to see it with uh with your eyes of the video camera looking at the 1128 00:22:36,549 --> 00:22:36,559 of the video camera looking at the 1129 00:22:36,559 --> 00:22:37,909 of the video camera looking at the docking target 1130 00:22:37,909 --> 00:22:37,919 docking target 1131 00:22:37,919 --> 00:22:40,390 docking target in the top you have the 1132 00:22:40,390 --> 00:22:40,400 in the top you have the 1133 00:22:40,400 --> 00:22:43,590 in the top you have the representation of that object as the 1134 00:22:43,590 --> 00:22:43,600 representation of that object as the 1135 00:22:43,600 --> 00:22:46,710 representation of that object as the robot sees it and this looks very much 1136 00:22:46,710 --> 00:22:46,720 robot sees it and this looks very much 1137 00:22:46,720 --> 00:22:49,590 robot sees it and this looks very much like what the part of the what what this 1138 00:22:49,590 --> 00:22:49,600 like what the part of the what what this 1139 00:22:49,600 --> 00:22:51,590 like what the part of the what what this image would look like in 1140 00:22:51,590 --> 00:22:51,600 image would look like in 1141 00:22:51,600 --> 00:22:53,990 image would look like in in the back of your head in the in the 1142 00:22:53,990 --> 00:22:54,000 in the back of your head in the in the 1143 00:22:54,000 --> 00:22:55,909 in the back of your head in the in the brain now we'll give the thing a bit of 1144 00:22:55,909 --> 00:22:55,919 brain now we'll give the thing a bit of 1145 00:22:55,919 --> 00:22:58,390 brain now we'll give the thing a bit of a offset just to make the problem harder 1146 00:22:58,390 --> 00:22:58,400 a offset just to make the problem harder 1147 00:22:58,400 --> 00:23:00,789 a offset just to make the problem harder and we will set we will tell the 1148 00:23:00,789 --> 00:23:00,799 and we will set we will tell the 1149 00:23:00,799 --> 00:23:03,350 and we will set we will tell the object tell the tracking system 1150 00:23:03,350 --> 00:23:03,360 object tell the tracking system 1151 00:23:03,360 --> 00:23:06,789 object tell the tracking system now just to to go dock with the uh 1152 00:23:06,789 --> 00:23:06,799 now just to to go dock with the uh 1153 00:23:06,799 --> 00:23:08,470 now just to to go dock with the uh with this target 1154 00:23:08,470 --> 00:23:08,480 with this target 1155 00:23:08,480 --> 00:23:10,149 with this target okay well here we'll we'll start the 1156 00:23:10,149 --> 00:23:10,159 okay well here we'll we'll start the 1157 00:23:10,159 --> 00:23:11,430 okay well here we'll we'll start the demonstration 1158 00:23:11,430 --> 00:23:11,440 demonstration 1159 00:23:11,440 --> 00:23:12,950 demonstration the 1160 00:23:12,950 --> 00:23:12,960 the 1161 00:23:12,960 --> 00:23:16,710 the robot now centered the uh 1162 00:23:16,710 --> 00:23:16,720 robot now centered the uh 1163 00:23:16,720 --> 00:23:18,710 robot now centered the uh the stocking target and you can see that 1164 00:23:18,710 --> 00:23:18,720 the stocking target and you can see that 1165 00:23:18,720 --> 00:23:20,470 the stocking target and you can see that it's staying in the center i'm gonna 1166 00:23:20,470 --> 00:23:20,480 it's staying in the center i'm gonna 1167 00:23:20,480 --> 00:23:23,110 it's staying in the center i'm gonna peel off the uh this overlay that we use 1168 00:23:23,110 --> 00:23:23,120 peel off the uh this overlay that we use 1169 00:23:23,120 --> 00:23:25,270 peel off the uh this overlay that we use just to make this a little more 1170 00:23:25,270 --> 00:23:25,280 just to make this a little more 1171 00:23:25,280 --> 00:23:27,270 just to make this a little more easy for us to see 1172 00:23:27,270 --> 00:23:27,280 easy for us to see 1173 00:23:27,280 --> 00:23:29,430 easy for us to see now what what we are seeing is this is 1174 00:23:29,430 --> 00:23:29,440 now what what we are seeing is this is 1175 00:23:29,440 --> 00:23:30,470 now what what we are seeing is this is the 1176 00:23:30,470 --> 00:23:30,480 the 1177 00:23:30,480 --> 00:23:32,070 the uh what we call a cartesian 1178 00:23:32,070 --> 00:23:32,080 uh what we call a cartesian 1179 00:23:32,080 --> 00:23:33,750 uh what we call a cartesian representation of this object it's the 1180 00:23:33,750 --> 00:23:33,760 representation of this object it's the 1181 00:23:33,760 --> 00:23:35,190 representation of this object it's the television image 1182 00:23:35,190 --> 00:23:35,200 television image 1183 00:23:35,200 --> 00:23:37,669 television image in much the same 1184 00:23:37,669 --> 00:23:37,679 in much the same 1185 00:23:37,679 --> 00:23:39,590 in much the same form as you're accustomed to looking at 1186 00:23:39,590 --> 00:23:39,600 form as you're accustomed to looking at 1187 00:23:39,600 --> 00:23:41,909 form as you're accustomed to looking at it yourself but what's happening in the 1188 00:23:41,909 --> 00:23:41,919 it yourself but what's happening in the 1189 00:23:41,919 --> 00:23:44,870 it yourself but what's happening in the back of your head is more nearly like 1190 00:23:44,870 --> 00:23:44,880 back of your head is more nearly like 1191 00:23:44,880 --> 00:23:46,549 back of your head is more nearly like what we see in the 1192 00:23:46,549 --> 00:23:46,559 what we see in the 1193 00:23:46,559 --> 00:23:47,990 what we see in the upper region 1194 00:23:47,990 --> 00:23:48,000 upper region 1195 00:23:48,000 --> 00:23:50,789 upper region where this is the uh 1196 00:23:50,789 --> 00:23:50,799 where this is the uh 1197 00:23:50,799 --> 00:23:52,470 where this is the uh the log polar 1198 00:23:52,470 --> 00:23:52,480 the log polar 1199 00:23:52,480 --> 00:23:55,990 the log polar uh version of this uh uh of this lower 1200 00:23:55,990 --> 00:23:56,000 uh version of this uh uh of this lower 1201 00:23:56,000 --> 00:23:56,950 uh version of this uh uh of this lower image 1202 00:23:56,950 --> 00:23:56,960 image 1203 00:23:56,960 --> 00:23:59,350 image now what the robot is doing is it's 1204 00:23:59,350 --> 00:23:59,360 now what the robot is doing is it's 1205 00:23:59,360 --> 00:24:01,430 now what the robot is doing is it's because this is a cylinder uh it has 1206 00:24:01,430 --> 00:24:01,440 because this is a cylinder uh it has 1207 00:24:01,440 --> 00:24:03,350 because this is a cylinder uh it has bumps on it compared with uh what it 1208 00:24:03,350 --> 00:24:03,360 bumps on it compared with uh what it 1209 00:24:03,360 --> 00:24:05,110 bumps on it compared with uh what it would look like if it were 1210 00:24:05,110 --> 00:24:05,120 would look like if it were 1211 00:24:05,120 --> 00:24:06,230 would look like if it were a 1212 00:24:06,230 --> 00:24:06,240 a 1213 00:24:06,240 --> 00:24:08,310 a sphere or just a circle 1214 00:24:08,310 --> 00:24:08,320 sphere or just a circle 1215 00:24:08,320 --> 00:24:09,750 sphere or just a circle and it has found a place where those 1216 00:24:09,750 --> 00:24:09,760 and it has found a place where those 1217 00:24:09,760 --> 00:24:12,470 and it has found a place where those bumps are in just the orientation that 1218 00:24:12,470 --> 00:24:12,480 bumps are in just the orientation that 1219 00:24:12,480 --> 00:24:15,590 bumps are in just the orientation that it wants 1220 00:24:15,590 --> 00:24:15,600 1221 00:24:15,600 --> 00:24:18,470 at about this angle now it's going to 1222 00:24:18,470 --> 00:24:18,480 at about this angle now it's going to 1223 00:24:18,480 --> 00:24:21,029 at about this angle now it's going to lower if you see that it's uh 1224 00:24:21,029 --> 00:24:21,039 lower if you see that it's uh 1225 00:24:21,039 --> 00:24:23,350 lower if you see that it's uh it's jumping it's lowering until the uh 1226 00:24:23,350 --> 00:24:23,360 it's jumping it's lowering until the uh 1227 00:24:23,360 --> 00:24:24,390 it's jumping it's lowering until the uh the bumps 1228 00:24:24,390 --> 00:24:24,400 the bumps 1229 00:24:24,400 --> 00:24:26,630 the bumps have mostly disappeared 1230 00:24:26,630 --> 00:24:26,640 have mostly disappeared 1231 00:24:26,640 --> 00:24:28,950 have mostly disappeared and now it's coming in uh on a straight 1232 00:24:28,950 --> 00:24:28,960 and now it's coming in uh on a straight 1233 00:24:28,960 --> 00:24:32,149 and now it's coming in uh on a straight on approach to the to the docking cart 1234 00:24:32,149 --> 00:24:32,159 on approach to the to the docking cart 1235 00:24:32,159 --> 00:24:33,909 on approach to the to the docking cart and so you're looking at 1236 00:24:33,909 --> 00:24:33,919 and so you're looking at 1237 00:24:33,919 --> 00:24:36,070 and so you're looking at the nose of the spacecraft 1238 00:24:36,070 --> 00:24:36,080 the nose of the spacecraft 1239 00:24:36,080 --> 00:24:39,480 the nose of the spacecraft we made it