Lane Detection in OpenCL

Implementation

• CPU 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

1. Particle Filter for Tracking a Robot in 2D

2. Particle Filter for Lane Tracking

Implementation | CPU Code | Lane Tracking

• Particle Filter developed in two phases

1. Particle Filter for Tracking a Robot in 2D

2. 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

•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

•

•  

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 for Tracking a Robot in

2D

Implementation | CPU Code | Lane Tracking

• Particle Filter developed in two phases

1. Particle Filter for Tracking a Robot in 2D

2. 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

Implementation

• CPU 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

1. Platform Model

2. Execution Model

3. Memory Model

4. 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