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Navigation of an Autonomous Vehicle is based on its interaction with the environment, through information acquired by sensors. The perception of the environment is a major issue in autonomous and (semi)-autonomous systems. This work presents the embedded real-time visual perception problem applied to experimental platform. In this way, a robust horizon finding algorithm that finds the horizon line was proposed and applied to generate the navigable area. It permits to investigate dynamically only a small portion of the image (road) ahead of the vehicle. From a dynamic threshold search method based on Otsu segmentation and Hough transform, this system was robust to illumination changes and does not need any contrast adjustments.