ATONOMOUS VECHICLE SPEED MEASUREMENT AND

CONTROL

A
PROJECT DISSERTATION ON

Submitted in partial fulfillment of the requirements for
the award of the degree of

BACHELOR OF TECHNOLOGY
IN
Electronics and Communication Engineering(CCC)

Submitted By
V.Bharat Kumar
(08063A4335)




SCHOOL OF CONTINUING AND DISTANCE EDUCATION
JAWAHARLAL NEHRU TECHNOLOGICAL UNIVERSITY, HYDERABAD
KUKATPALLY, HYDERABAD-500085
(2012-2013)
ATONOMOUS VECHICLE SPEED MEASUREMENT AND
CONTROL
A
PROJECT DISSERTATION ON
Submitted in partial fulfillment of the requirements for
the award of the degree of
BACHELOR OF TECHNOLOGY
IN
Electronics and Communication Engineering (CCC)

Submitted By
V.Bharat Kumar
(08063A4335)
Under the guidance of

Mr.K.THIRUPATHI, M.Tech, Ms.K.ANITHA
M.TECH.

Asst Professor Associate Professor.
Vagdevi College of Engineering and Technology P V P Siddhartha Institute of Technology
Warangal. Kanuru, Vijayawada




SCHOOL OF CONTINUING AND DISTANCE EDUCATION
JAWAHARLAL NEHRU TECHNOLOGICAL UNIVERSITY, HYDERABAD
KUKATPALLY, HYDERABAD-500085
(2012-2013)
ATONOMOUS VECHICLE SPEED MEASUREMENT AND
CONTROL
A
PROJECT DISSERTATION ON

Submitted in partial fulfillment of the requirements for
the award of the degree of

BACHELOR OF TECHNOLOGY
IN
Electronics and Communication Engineering(CCC)

Submitted By
V.Bharat kumar
(08063A4335)




SCHOOL OF CONTINUING AND DISTANCE EDUCATION
JAWAHARLAL NEHRU TECHNOLOGICAL UNIVERSITY, HYDERABAD
KUKATPALLY, HYDERABAD-500085
(2012-2013)

CERTIFICATE

SCHOOL OF CONTINUING AND DISTANCE EDUCATION
JAWAHARLAL NEHRU TECHNOLOGICAL UNIVERSITY, HYDERABAD



This is to certify that the dissertation entitled AUTONOMOUS VECHICLE SPEED
MEASUREMENT AND CONTROL is a bonafide work done by BHARAT KUMAR (HTNO:
08063A4335) of Bachelor of Technology in ELECTRONICS & COMMUNICATION
ENGINEERING from Jawaharlal Nehru Technological University, , Hyderabad during the year
2012- 2013.


Signature of the Guides:

Mr.K.THIRUPATHI, M.Tech, Ms.K.ANITHA
M.TECH.


Asst Professor Associate Professor.
Vagdevi College of Engineering and Technology P V P Siddhartha Institute of Technology
Warangal. Kanuru, Vijayawada
.




CHAIRMAN
PROJECT REVIEW COMMITTEE
(VAAGDEVI COLLEGE OF ENGINEERING AND TECHNOLOGY, WARANGAL)


ACKNOWLEDGEMENT


This thesis will certainly not be completed without due acknowledgements paid to all
those who have helped me in doing my project work.

I express my sincere thanks to my supervisor Mr. K.THIRUPATHI, Assistant
Professor for giving me moral support, kind attention and valuable guidance to me throughout this
project work.

It is my privilege to thank Ms.K.ANITHA ,M.Tech. Associate Professor,
Department of E.C.E, P V P Siddhartha Institute of Technology, (Autonomous), for his valuable
guidance in carrying out the project work.

I derive great pleasure in expressing my sincere gratitude to Dr, B.V.KRISHNA,
Ph.D., Professor and HOD, Dept., for his timely suggestions, which helped me to complete this
work successfully.

I am thankful to both teaching and non-teaching staff members of E.C.E Department
for their kind cooperation and all sorts of help to bring out this project work successfully.


I would like to thank my parents and my friends for being supportive all the time, and
I am very much obliged to them.




PROJECT ASSOCIATE

V.BHARAT KUMAR,
(08063A4335)









CONTENTS

Name of the Chapter Page No.
1. INTRODUCTION.....1
1.1 Introduction...1
1.2 Existing system.....2
1.3 Proposed System...3
1.4 Problem Definition....3
1.5 Thesis Organization..3
2. LITERATURE SURVEY.....4
2.1 Image.....4
2.2 Fundamental Steps in Image Processing...6
2.3 Types of Image Transforms.....10
2.3.1 Fourier Transform...10
2.3.2 Fourier Analysis..11
2.3.3 Short Time Fourier Transform....12
2.3.4 Continuous Wavelet Transform..13
2.4 Wavelet Analysis.15
2.4.1 Mathematical Representation of Wavelet...16
2.4.2 Translation and Scale in Wavelet...17
2.4.3 Wavelet domain Advantages......19
2.5 Additive and Multiplicative Noises.....20
2.5.1 Gaussian Noise...21
2.5.2 Salt and Pepper Noise21
2.5.3 Speckle Noise.....22
2.5.4 Brownian Noise..23
2.6 Performance Measures24
2.6.1 Mean Absolute Error......24
2.6.2 Mean Square Error.24
2.6.3 Signal to Noise Ratio..25
2.6.4 Peak Signal to Noise Ratio.25
3. APPROACH26
3.1 Introduction.26
3.1.1 Continuous Wavelet Transform..26
3.1.2 Discrete Wavelet Transform...27
3.1.3 One Stage Filtering.27
3.2 Decomposition Process....28
3.2.1 Pyramidal decomposition....31
3.2.2 Wavelet Packet Decomposition..33
3.3 Composition Process....34
3.4 Image Denoising..35
3.4.1Denoising Methods..35
3.4.2Thresholding Methods.....39
3.4.2.1 Universal Thresholding...39
3.4.2.2 Bayesian Thresholding....41
3.4.2.3 Hard and Soft Thresholding41
3.5 Image denoising using threshold..42
3.5.1Uniform threshold43
3.5.2 Adaptive Threshold.....44
3.6 Wavelet Domain Denoising and Compression.....46
3.6.1 Wavelet Transform Based Compression Using Quantization.....47
4. IMPLEMENTATION.48
4.1 Introduction.48
4.2 Image Compression using Quantization.48
4.3 Implement the Image Compression Algorithm...49
5. RESULT ANALYSIS..........................54
5.1 Introduction..54



6. CONCLUSION............................56
7. FUTURE SCOPE.............................57
8. REFERENCES.............................58
APPENDIX
A. Matlab sample code.59
B. Working with Matlab..68








































LIST OF FIGURES

Figure No. Name of the Figure Page No.

Figure 2.1 Block Diagram Representation of Digital Image Processing 6
Figure 2.2 Difference between Time and Frequency Domain 10
Figure 2.3 Conversion from Time to Frequency 11
Figure 2.4 Window used in STFT 12
Figure 2.5 Wavelet shown at two different scales 13
Figure 2.6 wavelet signal 14
Figure 2.7 The same wavelet as in figure 2.5, but translated by k 14
Figure 2.8 Difference between Wave and Wavelet (a) wave (b) wavelet. 15
Figure 2.9 a) Mother wavelet ( ) t b) 1 0 : < <
|
.
|

\
|
o
o

t
c) 1 : >
|
.
|

\
|
o
o

t
16
Figure 2.10Translation 17
Figure 2.11 Scaling 18
Figure 2.12 Wavelet Transformation 18
Figure 2.13 Differences between Transformations 19
Figure 2.14 Gaussian distribution 21
Figure 2.15 Gaussian noise for different variances 21
Figure 2.16 PDF for salt and pepper noise 22
Figure 2.17 Salt and pepper noise 22
Figure 2.18 Gamma distribution 23
Figure 2.19 Speckle noise 23
Figure 2.20 Brownian noise distribution 24
Figure 2.21 Brownian noise 24
Figure 3.1 Continuous wavelet transform 26
Figure 3.2 One stage filtering 27
Figure 3.3 Two sequences obtained by decomposition 28
Figure 3.4 Obtain wavelet coefficient 28
Figure 3.5 One decomposition step of the two dimensional image 29
Figure 3.6 One DWT decomposition step 29

Figure 3.7 (a) The original Lena Image, (b) Level 5 decomposition of Lena image,
(c) Histogram plot of the original Lena image,
(d) Frequency response after level 5 decomposition. 30
Figure 3.8 Three decomposition steps using Pyramidal Decomposition 31
Figure 3.9 Pyramid after three decomposition steps 32
Figure 3.10 Pyramid after three decomposition steps 32
Figure 3.11 decomposition using wavelet packet decomposition 33
Figure 3.12 Sub band structure after two level packet decomposition 33
Figure 3.13 One composition step of the four sub images 34
Figure 3.14 Image denoising by adaptive wavelet threshold 35
Figure 3.15 Universal Threshold calculation of Threshold T as a function of n. 40
Figure 3.16 Hard Threshold 41
Figure 3.17 Soft Threshold 42
Figure 3.18 Image Denoising using Threshold 43
Figure 3.19 Denoised Image a) DWT of clean Lena b) Noisy Lena with 44
Figure 3.20 Denoising of Lena by adaptive wavelet thresholding 45
Figure 3.21 Approximation of a thresholding function by Quantization 47
Figure 4.1 Image Compression Using Quantization 48
Figure 4.2 Original Image as input 50
Figure 4.3 Noisy Image 50
Figure 4.4 Compressed image by Quantization 51
Figure 4.5 Reconstructed Noisy Image 52
Figure 4.6 Reconstruction from Compressed Image 53
Figure 5.1 a) Original Image b) Noisy Image 54
Figure 5.2 a) Compressed Image b) Reconstructed Noisy Image 54
Figure 5.3 Reconstructed Original Image 55





ACRONYMS
DWT ------- Discrete Wavelet Transform
IDWT ------- Inverse Discrete Wavelet Transform
STFT ------- Short Time Fourier Transform
DCT ------- Discrete Cosine Transform
FT ------- Fourier Transform
MSE ------- Mean Square Error
SNR ------- Signal to Noise Ratio
CWT ------- Continuous Wavelet Transformation
CR ------- Compression Ratio
PSNR ------- Peak Signal to Noise Ratio
MAE ------- Mean Absolute Error




























ABSTRACT

The main idea behind this project is to present a working module which can autonomously
measures and control the speed of the vehicle using microcontroller with a closed loop provided. The
heart of the project is the ATMEL 89S51 microcontroller along with the IR sensors, motor driver
and H-bridge circuit organizes the speed of the vehicle and controls the speed and also changes the
direction of the vehicle if any obstacle is placed in its path.
The entire designed to operate at 5v and 12v dc for microcontroller and motor respectively.
For this purpose we use a step down motor 12V centre tapped transformer and 5V voltage regulators
to provide necessary supplies.
.











































1. INTRODUCTION











2. LITERATURE
SURVEY










3. APPROACH











4. IMPLEMENTATION











5. RESULT ANALYSIS











6. CONCLUSION











7. FUTURE SCOPE











8. REFERENCES











APPENDIX