Abstract
This paper presents a design adapting the Kalman Filter to the vehicle system domain and Field Programmable Logic technology. The objective to which the system will be applied is detection of road lines from visual information, derived from a low cost monochrome camera with real time response requirements and good results for real scenarios (secondary roads, rain, damaged or occluded road lines..). The sections will describe how the original algorithm is mapped to a real time hardware vision system, which includes a low-cost FPGA processing system and a camera, for vehicle applications. The paper will also illustrate how the needed tasks have been implemented on the FPGA, with the logical architectural restrictions. It mentions also the ways in which overall performance will be increased.
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Cobos Arribas, P., Jiménez Alonso, F. (2007). FPGA Real Time Lane Departure Warning Hardware System. In: Moreno Díaz, R., Pichler, F., Quesada Arencibia, A. (eds) Computer Aided Systems Theory – EUROCAST 2007. EUROCAST 2007. Lecture Notes in Computer Science, vol 4739. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-540-75867-9_91
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DOI: https://doi.org/10.1007/978-3-540-75867-9_91
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