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    This document provides an overview and project plan for developing a vision-based lane tracking system using Kalman filtering. The system will detect lanes from video frames of a traffic scene, track the lane boundaries over consecutive frames using Kalman filtering, and perform error checking to ensure accurate lane estimation. In December, the team will purchase components, test the BeagleBone environment, design a model car, and set initial parameters. In January, they will calibrate the Kalman filter, set up the camera and sensors, and do testing. In February, the team will set a model path, optimize testing on it, and perform debugging.

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    This document provides an overview and project plan for developing a vision-based lane tracking system using Kalman filtering. The system will detect lanes from video frames of a traffic scene, track the lane boundaries over consecutive frames using Kalman filtering, and perform error checking to ensure accurate lane estimation. In December, the team will purchase components, test the BeagleBone environment, design a model car, and set initial parameters. In January, they will calibrate the Kalman filter, set up the camera and sensors, and do testing. In February, the team will set a model path, optimize testing on it, and perform debugging.

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    7 views3 pages

    REP1

    Uploaded by

    Anonymous fHzLAm1du
    This document provides an overview and project plan for developing a vision-based lane tracking system using Kalman filtering. The system will detect lanes from video frames of a traffic scene, track the lane boundaries over consecutive frames using Kalman filtering, and perform error checking to ensure accurate lane estimation. In December, the team will purchase components, test the BeagleBone environment, design a model car, and set initial parameters. In January, they will calibrate the Kalman filter, set up the camera and sensors, and do testing. In February, the team will set a model path, optimize testing on it, and perform debugging.

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    of 3

    PROJECT OVERVIEW

    The development of advanced driver assistance systems and ultimately autonomous driving
    requires the ability to analyse the road scene. One prerequisite for this is the detection of
    lanes and subsequent tracking of lanes.
    Driver assistance systems such as cruise control exists to keep check on rash driving while
    there are no systems in place to help the driver maintain lane discipline.
    This project aims at building a vision based lane tracking system using Kalman filter. Visionbased line tracking system is commonly used to build autonomous cars capable of following
    a road without human intervention. First, the image horizon is detected in a traffic scene to
    split the sky and road region. Road region is further analysed with entropy method to remove
    the road pixels. Lane boundaries are then extracted from the region using lane markings
    detection. These detected boundaries are tracked in consecutive video frames .The model
    parameters are updated with Kalman filtering method.

    Error-checking is performed

    iteratively to ensure the performance of the lane estimation model.

    PROJECT PLAN
    DECEMBER
    PERIOD

    WORK

    WORK DIVISION

    DEC 4 7

    Component purchase

    AKHIL T THOMAS, ARJUN


    CS

    DEC 8-10

    Testing and verification of


    functionalities of Beagle
    bone
    Verification of code in
    Open CV

    ALL

    AKHIL T THOMAS,
    ASHWIN NAIR

    DEC 17-20

    Porting of Open CV
    environment onto Beagle
    bone and testing
    Design of model car

    DEC 21-24

    Building up of model car

    ARJUN C S, ABRAHAM
    THOMAS, AKHIL THOMAS

    DEC 26- 31

    Setting up of parameters

    ARJUN C S, ASHWIN NAIR,


    AKHIL T THOMAS

    PERIOD

    WORK

    WORK DIVISION

    JAN 1 - 31

    Kalman filter parameter


    calibration

    AKHIL T THOMAS,
    ASHWIN NAIR

    JAN 9 16

    Setting up of camera and


    image capture

    BHAVYA H, ABRAHAM
    THOMAS

    JAN 17 24

    Setting up of ultrasonic
    sensor

    ARJUN C S, ASHWIN NAIR

    JAN 25-31

    Testing and calibration

    ALL

    DEC 5-10
    DEC 11-16

    BHAVYA H, ABRAHAM
    THOMAS

    BHAVYA H, ASHWIN NAIR

    JANUARY

    FEBRUARY
    PERIOD

    WORK

    WORK DIVISION

    FEB 1 - 8

    Setting up of model path

    ARJUN C S, ABRAHAM
    THOMAS

    FEB 9 16

    Testing and optimisation


    on the model path

    ASHWIN NAIR, BHAVYA H,


    AKHIL T THOMAS

    FEB 17- 28

    Debugging

    ALL

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