A low-cost hybrid vision system for intelligent cruise control applications

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.

Department dc:contributor.department

Massachusetts Institute of Technology. Dept. of Electrical Engineering and Computer Science

Grantor dc:publisher

Massachusetts Institute of Technology

Year dc:date.issued

1999

Author dc:creator

• Spaeth, Mark Christian, 1974-

Advisor dc:contributor.advisor

• Hae-Seung Lee.

• Electrical Engineering and Computer Science

Statement dc:rights

• M.I.T. theses are protected by copyright. They may be viewed from this source for any purpose, but reproduction or distribution in any format is prohibited without written permission. See provided URL for inquiries about permission.

Licence dc:rights.uri

• http://theses.mit.edu:80/Dienst/UI/2.0/Describe/0018.mit.etheses%2f1999-8
• http://dspace.mit.edu/handle/1721.1/7582

Language dc:language.iso

eng

Handle dc:identifier.uri

http://hdl.handle.net/1721.1/16728

OAI identifier oai:identifier

oai:dspace.mit.edu:1721.1/16728