Lane Detection in OpenCL

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Presentation transcript:

Lane Detection in OpenCL

Implementation CPU Code CPU + OpenCL Device Code Using C/C++ and OpenCV CPU + OpenCL Device Code CPU Code: Using C/C++ and OpenCV OpenCL Device Code: OpenCL kernels

Implementation | CPU Code

Implementation | CPU Code | Original Image & Selected ROI

Implementation | CPU Code Sobel Edge-Detector Gradient Matrix : value of an element in gradient matrix at a given : pixel value at a given

Implementation | CPU Code

Implementation | CPU Code | Lane Detection | Lane Detection Schematic

Implementation | CPU Code | Lane Detection | Line Sampling

Implementation | CPU Code | Lane Detection Assigning Weight to a Line : weight assigned to a line : Neighborhood : value of element chosen by in gradient matrix

Implementation | CPU Code | Lane Detection Extract High-Weight Lines

Implementation | CPU Code | Lane Detection | Lane Detection Schematic

Implementation | CPU Code

Implementation | CPU Code | Lane Tracking Particle Filter developed in two phases Particle Filter for Tracking a Robot in 2D Particle Filter for Lane Tracking

Implementation | CPU Code | Lane Tracking Particle Filter developed in two phases Particle Filter for Tracking a Robot in 2D Particle Filter for Lane Tracking

Implementation | CPU Code | Lane Tracking | Particle Filter for Tracking a Robot in 2D

Lane Tracking Schematic Implementation | CPU Code | Lane Tracking | Particle Filter for Tracking a Robot in 2D Lane Tracking Schematic

Motion Update / Prediction Update Implementation | CPU Code | Lane Tracking | Particle Filter for Tracking a Robot in 2D Motion Update / Prediction Update (X, Y, ϴ): Position and Orientation of a particle (, , ): Translational and Angular Velocities of a particle

Implementation | CPU Code | Lane Tracking | Particle Filter for Tracking a Robot in 2D Measurement Update / Correction Update Evidence Likelihoods are obtained from Normalization

Lane Tracking Schematic Implementation | CPU Code | Lane Tracking | Particle Filter for Tracking a Robot in 2D Lane Tracking Schematic

Implementation | CPU Code | Lane Tracking | Particle Filter for Tracking a Robot in 2D

Implementation | CPU Code | Lane Tracking | Particle Filter for Tracking a Robot in 2D

Implementation | CPU Code | Lane Tracking Particle Filter developed in two phases Particle Filter for Tracking a Robot in 2D Particle Filter for Lane Tracking

Implementation | CPU Code | Lane Tracking | Particle Filter for Lane Tracking

Lane Tracking Schematic Implementation | CPU Code | Lane Tracking | Particle Filter for Tracking a Robot in 2D Lane Tracking Schematic

Implementation CPU Code CPU + OpenCL Device Code Using C/C++ and OpenCV CPU + OpenCL Device Code CPU Code: Using C/C++ and OpenCV OpenCL Device Code: OpenCL kernels

Implementation | CPU + OpenCL Device Code | OpenCL OpenCL divides any given problem into Platform Model Execution Model Memory Model Programming Model

Implementation | CPU + OpenCL Device Code | Platform Model

Implementation | CPU + OpenCL Device Code | Execution Model

Implementation | CPU + OpenCL Device Code | Memory Model

Implementation | CPU + OpenCL Device Code | Programming Model

Implementation | CPU Code

Implementation | CPU + OpenCL Device Code

Implementation | CPU + OpenCL Device Code Kernel 1: Lane Detection’s Device Code Creates Lines Kernel 2: Lane Tracking’s Device Code Motion Update Measurement Update

Implementation | CPU + OpenCL Device Code | OpenCL Execution Schematic

Implementation | CPU + OpenCL Device Code | OpenCL Execution Schematic Schematic for execution on Altera FPGA