ALV structural road following system

In this paper we present a real-time lane mark line following system used for high speed ALV navigation on structural road. The white line on black ground is obtained by the color transform of the input RGB image. The white line head is searched by a local thresholding and hypothesis-verification method. A window searching scheme with local projection and voting is described. Both sides of the lane marklines are followed by several consequential spatial varying square windows. The entire vision system is implemented on some special hardware and a TMS320C30 based general-purpose image processing board. Test results show that this system is very efficient for both solid and broken, clear and blurred mark lines in different illumination environments.