1. Lane Detection in OpenCL

2. 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

3. Implementation | CPU Code

4. Implementation | CPU Code | Original Image & Selected ROI

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

6. Implementation | CPU Code

7. Implementation | CPU Code | Lane Detection | Lane Detection Schematic

8. Implementation | CPU Code | Lane Detection | Line Sampling

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

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

11. Implementation | CPU Code | Lane Detection | Lane Detection Schematic

12. Implementation | CPU Code

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

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

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

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

17. 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

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

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

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

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

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

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

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

25. 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

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

27. Implementation | CPU + OpenCL Device Code | Platform Model

28. Implementation | CPU + OpenCL Device Code | Execution Model

29. Implementation | CPU + OpenCL Device Code | Memory Model

30. Implementation | CPU + OpenCL Device Code | Programming Model

31. Implementation | CPU Code

32. Implementation | CPU + OpenCL Device Code

33. 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

34. Implementation | CPU + OpenCL Device Code | OpenCL Execution Schematic

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