Visual Navigation System, Road Image Processing Technology

Vision navigation is the key technique of intelligent vehicle guidance, this paper researches the algorithm of lane detection and track for intelligent vehicles vision navigation system based image processing and analysis of monocular vision.In the paper, research background, meaning, current status of internal and world, trend and difficulties of intelligent vehicles is firstly introduced. The paper processes road images by CCD sensor。In image filtering and enhancement, considering the real time, firstly, the road images are managed one dimensional median filter in row. secondly, in range. Its result equals two dimensional median filter. But the computer quantity is smaller, the texture of road edge is protected. In image edge, by simulate experiments, the paper uses Sobel edge detector. It is simple. Its operation speed is quick and processes lubricity and series. For the real time and robustness of system, the road pictures must be binary. By the improvement of optical threshold segment, iteration mean is used for the advancement of resist noise. For the distilling road line better, Mathematical Morphology based on assemble is used for the sealing and filtering of road. About the line images, as the restriction condition of the line and so on, Hough transform is used of distilling the line. The real time and robustness of Hough transform is very good. And it links the short line of one line. By the parameter of road line, the deviation of site and angle are known between the road line and vehicle. And Kalman filter is used for tracking the road line. The paper analyses and discusses the road of no mark line based on region growing and edge detection. By the use of relative merits of two ways, the position of the vehicles is known. And the interested region is used for detecting the road boundary.The algorithm proposed by the paper are used to process actual lane image, simulated results show that the algorithm is right and effective.