As of right now this is where I stand. The BeagleBoard is still getting worked on by Brad so I can start working with the camera image processing. I’m currently reading a book called Embedded Image Processing on the TMS320C6000 DSP that was recommended by Dr. Sanchez. I’ve decided to use Canny edge detection with the IR distance sensors to do object detection to avoid obstacles. It achieves this by knowing the distance from the camera to the IR distance sensors. We then should be able to map distance points located at specific location on the image and using the edge detection we can roughly get a depth map generated.

Beagleboard DSP chip runs at 800 Mhz and was looking at downloading C6x compiler CGT 6.0.22 to create code and compile for the DSP chip.