Kamera-basierte Minimalautonomie


This thesis deals with the construction of an autonomous driving, minimal system. The used processor is a microcontroller and the only sensor is a camera. After describing the hardware, which contains an own design of the chassis, the software basics for tele- metry and the camera interface are described. Subsequently, lightweight algorithms are explained which allow image processing on the microcontroller with limited ressources. Finally, the alogrithms will be evaluated in a simulation and in a live test based on the regulations of the Carolo-Cup.