Vision System을 이용한 자동차의 자율주행을 위한 진행방향 추정에 관한 연구

In this paper. we describe a algorithm which estimate road following direction using the vanishing point property. This method of detecting the lane markers in a set of continuous lane highway images using linear approximation is presented. This algorithm is designed for accurate and robust extraction of this data as well as high processing speed. It is designed that by seven step. we explain these steps as follows. One step, equalization of image, two step, we find edge of lane by filtering. three step .threshold for binarization of image. four step obtain points, five step, line detection using a least square method and next step is vanishing point estimation. Finally, estimate the direction of load. High accuracy was proven by quantitative evaluation using simulated images. Both robustness and the practicality of real time video rate processing were then confirmed through experiment using VTR real road images.