Stereo vision has become an attractive topic research in the last decades. Many implementations such as the autonomous car, 3D movie, 3D object generation, are produced using this technique. The advantages of using two cameras in stereo vision are the disparity map between images. Disparity map will produce distance estimation of the object. Distance measurement is a crucial parameter for an autonomous car. The distance between corresponding points between the left and right images must be precisely measured to get an accurate distance. One of the most challenging in stereo vision is to find corresponding points between left and right images (stereo matching). This paper proposed distance measurement using stereo vision using Semi-Global Block Matching algorithm for stereo matching purpose. The object is captured using a calibrated stereo camera. The images pair then optimized using WLS Filter to reduce noises. The implementation results of this algorithm are furthermore converted to a metric unit for distance measurement. The result shows that the stereo vision distance measurement using Semi-Global Block Matching gives a good result. The obtained best result of this work contains error of less than 1% for 1m distance

Stereo vision is one of the interesting research topics in the computer vision field. Two cameras are used to generate a disparity map, resulting in the depth estimation. Camera calibration is the most important step in stereo vision. The calibration step is used to generate an intrinsic parameter of each camera to get a better disparity map. In general, the calibration process is done manually by using a chessboard pattern, but this process is an exhausting task. Self-calibration is an important ability required to overcome this problem. Self-calibration required a robust and good matching algorithm to find the key feature between images as reference. The purpose of this paper is to analyze the performance of three matching algorithms for the autocalibration process. The matching algorithms used in this research are SIFT, SURF, and ORB. The result shows that SIFT performs better than other methods.

Technological developments have an impact on increasing the number of motorized vehicles such as motorcycles, cars, and other modes of transportation. This causes air pollution impacts such as gas emissions from fossil fuels. Substances from hazardous exhaust gases consist of carbon monoxide (CO), carbon dioxide (CO2), nitrogen oxides (NO or NOx), and hydrocarbons (HC). Therefore, the purpose of this research is to design a catalytic converter through a mixture of several metals obtained from various wastes in Small and Medium Enterprises. A mixture of copper, brass, aluminium and zinc to be created as a muffler or exhaust on the test vehicle, namely the 2005 Car. The observed exhaust emissions are CO & HC using a Gas Analyzer. Measurements were observed at vehicle rotation of 1000 rpm, 2000 rpm, 3000 rpm, 4000 rpm and 5000 rpm. The results showed that the highest proportion of reduced CO levels was the use of a catalyst at 2000 rpm engine speed, which was 5.23 with Pertamax fuel, while petrolite fuel using a catalyst with 2000 rpm engine speed was 5.5. The highest percentage reduction in HC levels was when using a catalyst with engine speed of 1000 rpm of 645% with Pertamax fuel, while for pertalite fuel using a catalyst with engine speed of 1000 rpm was 705.5%

The disposal of gas emission from vehicle is the biggest contributor to the environmental pollution which generates most carbon monoxide, hydrocarbon, and lead (Pb=Plumbum). Those substance particulates are pollutants and harmful for both the environment and human life. One of the innovations that can reduce the pollutive particulates is to reduce CO gas by assembling a catalytic converter are displayed. In order to find out the effect of catalytic converter absorption toward (CO) gas particulate, varied with various materials in an environmentally friendly catalytic converter, a simulation using fluent software is carried out. From the simulation, it is seen a significant thermal condition and CO mass fraction absorption from various different materials, by applying mass fraction of CO=0.04;N2=0.8796; and O2=0.12, the decrease of high mass fraction (decrease of CO=0.004 mass fraction) occurs at the channel centre area due to the mass fraction of various materials that moves away from the center with a longer rest time (high conversion) at the surrounding channel.

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