Abstract
In this chapter we evaluate numerical requirements for implementation of camera-based lateral position detection algorithms, such as lane keep assistant (LKA) and lane departure warning (LDW) on a fixed-point DSP. We first present methods that address the challenges and requirements of fixed-point design process. The flow proposed is targeted at converting C/C++ code with floating-point operations into C code with integer operations that can then be fed through the native C compiler for a fixed-point DSP. Advanced code optimization and an implementation by DSP-specific, fixed-point C code generation are introduced. We then demonstrate the conversion flow on tracking example (extended Kalman filter) using synthetically generated data, and we analyze trade-offs for algorithm implementation in fixed-point arithmetic. By using the techniques described in this chapter speed can be increased by a factor of up to 10 compared to floating-point emulation on fixed-point hardware.
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Nikolić, Z. (2009). Implementation Considerations for Automotive Vision Systems on a Fixed-Point DSP. In: Kisačanin, B., Bhattacharyya, S.S., Chai, S. (eds) Embedded Computer Vision. Advances in Computer Vision and Pattern Recognition. Springer, London. https://doi.org/10.1007/978-1-84800-304-0_9
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DOI: https://doi.org/10.1007/978-1-84800-304-0_9
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