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A Prototype Optical Tracking System Investigation and Development - page 5 / 170





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Many them.

people have helped me throughout this project and I would like to acknowledge Firstly, I would like to thank my supervisors: Professor Phil Bones and Dr Michael

Hayes at the University of Canterbury, and Dr Rachel Johnston at


NZ Scanning Ltd.

Throughout the two years that I have spent on this project they have had significant input. Despite their busy schedules they have found time to proof read many drafts of my thesis

in recent months.

In particular, I would like to thank Phil for his regular meetings in which we spent time with Michael pondering the best ways to design the tracking system. Thank you for organ- ising the two trips to the IVCNZ conferences in 2007 and 2008, and for writing the Black Spot paper for the most recent IVCNZ conference.

I would like to thank Michael for his help in the hardware and firmware development of the Black Spot module. Michael is enthusiastic towards embedded systems and was always willing to help me tackle ‘gnarly’ bugs (as he calls them) in the early stages of the Black Spot development. Michael suggested that I switch to Open Source tools early in the project and provided libraries of his own code for low level Blackfin routines.

Rachel has proof read many chapters of my thesis at a rate at which I have struggled to keep up with. Despite officially working part time she is extremely busy and I suspect she spends much of her ‘free time’ staying up to date with her work. Rachel’s suggestions have been invaluable. I would like to thank her in particular for her help analysing the results gained from testing the Black Spot modules and the Point Grey Research camera initially

used in this research.

I would like to thank Brent Price from

R NZ Scanning Ltd. for providing the oppor-

tunity to carry out this research. Brent has provided significant company resources and financial support. His drive to see the project develop has allowed me to purchase nec- essary equipment. Brent and his staff were responsible for designing the test jig used to collect the majority of the results in this project. Brent made a hardware modification to the Black Spot modules’ image-data buses that saved a great deal of time.


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