Implementation and evaluation of a pothole detection system on TI C6678 Digital Signal Processor

This paper describes the implementation of a previously proposed pothole detection system on Texas Instruments C6678 Digital Signal Processor (DSP). The system employs disparity maps as input followed by surface fitting and Connected Component Labelling (CCL) for pothole detection. Optimisations of the matrix calculation in the system algorithm have been made DSP friendly. Memory management has also been applied for high resolution input images as well as compiler optimisation for efficient code pipelining. The paper also discusses the use of parallel and multi-core programming of IPC and OpenMP API on TI C6678. The core system sections have been evaluated in terms of runtime and accuracy under different optimisation approaches.