2. Computer Controlled Car By Daniel K L TUNG Supervised by Dr. L Allison (CS) Second Reader Dr. R Lisner (ENG) http://www.csse.monash.edu.au/~beetung/ccc/ Linux captured view

3. Project History Two years history (1998,1999) 1998 - Computer(Indy) to RF controller interface, control car manually using arrow keys. 1999 –a on board CCD camera unit –basic software navigation system utilizing an SGI Indy (following a track automatically)

4. AIM Re-implement everything to work under Linux To make the existing prototype model go faster (on the same track). Eliminate the various issues identified in previous years –frame grabbing delay –slow response in displaying

5. How does it work?

6. UHF/VHF Link CCD Camera with Transmitter (mounted on car) RF Link Video Capture (25 fps) Image Processing (Track Extraction) Navigation (Car Control & Map) VCR (Composite output) Remote Controller Frame Grabber Card Car http://www.csse.monash.edu.au/~beetung/ccc

7. Software Extension Create from scratch, a fast and efficient C++ image manipulation library P-thread (multi-threaded library) Xwindows intrinsics and XShm more advanced navigation system –with history mapping

8. Hardware Extension Implement a Speedo to measure the speed Build a second car

9. Semester One Built a simulator Testing a few frame grabber cards. –Built a customised Linux Kernal. –Simple capture works! –XShm with 44fps Can control car using arrow keys under a IBM PC.

10. Future Research Area Track Extraction Algorithm –Folding (XOR), –Scanline (peak-peak). Collusion avoidance (if time permits) –B-spline

11. Track Extraction Algorithm Step 1 a scanline

12. Track Extraction Algorithm Step 2 a scanline XOR

13. Track Extraction Algorithm Step 3 a scanline

14. Thank You