A Lane Marker Detection Algorithm Suitable for Embedded Real-Time Systems

W. Kubinger, C. Loibl, and J. Kogler (Austria)


Computer Vision, Embedded Systems, Robotics, Lane Marker Detection


We present the design of a lane marker detection algorithm suitable for embedded real-time systems. The algorithm was particulary designed for fast execution. The achieved execution time was about 11ms for a search window of 200x90 pixels on a single state-of-the-art Digital Signal Processor (DSP). The algorithm was integrated into an em bedded real-time stereo vision sensor. This sensor was part of the sensor suite of the autonomous vehicle RED RAS CAL of the team SciAutonics / Auburn Engineering. RED RASCAL participated at the National Qualification Event (NQE) in the DARPA Urban Challenge 2007 in Victorville, CA, USA. The embedded stereo vision sensor did a great job and detected lane markers and lane borders with a high reliability.

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