A low-cost hybrid vision system for intelligent cruise control applications
Author(s)Spaeth, Mark Christian, 1974-
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In recent years, automobiles have become increasingly computerized and varying degrees of intelligent control has been integrated into automotive systems. A natural extension of this trend is full intelligent and autonomous control of vehicle by onboard computer systems. This thesis presents the design, development, and construction of a low-cost, low-power vision system suitable for on-board automated vehicle systems such as intelligent cruise control. The apparatus leverages vision algorithms, simplified by a prescribed camera geometry, to compute depth maps in real-time, given the input from three imagers mounted on the vehicle. The early vision algorithms are implemented using Dr. David Martin's ADAP mixed signal array processor. The back-end algorithms are mplemented in software on PC for simplicity, but could easily be implemented in hardware in a later design. The final apparatus was able to compute depth maps at a rate of 24 frames per second, limited only by the interrupt latency of the PC executing the algorithms.
Thesis (S.M.)--Massachusetts Institute of Technology, Dept. of Electrical Engineering and Computer Science, 1999.Includes bibliographical references (p. 95-96).This electronic version was submitted by the student author. The certified thesis is available in the Institute Archives and Special Collections.
DepartmentMassachusetts Institute of Technology. Dept. of Electrical Engineering and Computer Science
Massachusetts Institute of Technology
Electrical Engineering and Computer Science