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

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)

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

How does it work?

UHF/VHF Link

CCD Camera withTransmitter

(mounted on car)

RF Link

Video Capture(25 fps)

Image Processing(Track Extraction)

Navigation(Car Control & Map)

VCR (Composite output)

RemoteController

Frame GrabberCard

Carhttp://www.csse.monash.edu.au/~beetung/ccc

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

Hardware Extension

• Implement a Speedo to measure the speed

• Build a second car

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.

Future Research Area

• Track Extraction Algorithm– Folding (XOR),– Scanline (peak-peak).

• Collusion avoidance (if time permits)– B-spline

Track Extraction Algorithm

Step 1

a scanline

Track Extraction Algorithm

Step 2

a scanline

XOR

Track Extraction Algorithm

Step 3

a scanline

Thank You