An Image Processing System For Autonomous Vehicle

We developed an image processing system for autonomus vehicle. This system can detect white lines which are drawn on the paved road and a obstacle. This system is based on the video-rate image process-ing system IDATEN that we have developed. Therefore, this system can perform white line detection and obstacle detection at video-rate. White lines are detected as follows: First, a input image is converted to binary image and divide each area. Then, white lines are identified with the size of the area and the trace of the area. A obstacle is detected as follows: First, edge images are extracted from input stereo images and the distance of image-matching portions for edge images are detected. Then, a obstacle is identified with the detected distance and the position of the white lines.