Autonomous Vehicle using Image Processing

BTP Project Presentation,IIT Roorkee

Group-15 Nandkishor Gupta 10116034 Praveen Yadav 10116037 1 Ravi Raj 10116040

This is how it will look like on completion!!

Obstacle Vehicle Route End Point

BTP Project Presentation,IIT Roorkee

Block Level Representation of the System:-

Camera

Image Processing

Micro Controller

Vehicle Control

GPS Dest. Point Image Segmentation Edge Detection

Steering Control

Speed Control

Lights Control

BTP Project Presentation,IIT Roorkee

Requirements
Camera(3-4MP) MATLAB Installed on PC Processor Intel Core i5 Microcontroller DC Motors Motor Driver IC (L293D) Other Vehicle Components GPS Receiver (Optional)
BTP Project Presentation,IIT Roorkee 4

Developments till Date..

Camera

Image Processing

Micro Controller

Vehicle Control

GPS Dest. Point Image Segmentation Edge Detection

Steering Control

Speed Control

Lights Control

BTP Project Presentation,IIT Roorkee

Image Segmentation
The goal of image segmentation is to divide an image into constituent parts that correlate to objects within the image. Once these objects have been extracted from the scene, information about them, such as their location, orientation, area etc. are used towards a specific application.

Real Life Image

Segmented Image

BTP Project Presentation,IIT Roorkee

Methods of Image Segmentation

Otsus Thresholding Method:The simplest method of image segmentation is called the thresholding method. This method is based on a clip-level (or a threshold value) to turn a gray-scale image into a binary image. Clustering Methods: The K-means algorithm is an iterative technique that is used to partition an image into K clusters. The basic algorithm is: Pick K cluster centers, either randomly or based on some heuristic Assign each pixel in the image to the cluster that minimizes the distance between the pixel and the cluster center Re-compute the cluster centers by averaging all of the pixels in the cluster Repeat steps 2 and 3 until convergence is attained (i.e. no pixels change clusters)
BTP Project Presentation,IIT Roorkee 7

Edge Detection
Edge detection is the name for a set of mathematical methods which aim at identifying points in a digital image at which the image brightness changes sharply or, more formally, has discontinuities.

BTP Project Presentation,IIT Roorkee

Methods of Edge Detection

BTP Project Presentation,IIT Roorkee

MATLAB DEMONSTRATION
Image Segmentation Image Edge Detection

BTP Project Presentation,IIT Roorkee

10

Capabilities of Robot
Obstacle Detection Obstacle Avoidance

.In Real time

BTP Project Presentation,IIT Roorkee

11

Obstacle Avoidance Control Flow:-

Future Work:-

Camera

Image Processing

Micro Controller

Vehicle Control

GPS Dest. Point Image Segmentation Edge Detection

Steering Control

Speed Control

Lights Control

BTP Project Presentation,IIT Roorkee

13

Practical Applications of Project

Mars Rovers Can build driver-free war vehicle and have other important applications in Defence Future on-road vehicles and autonomous transport system.

BTP Project Presentation,IIT Roorkee

14