Lane line recognition algorithm based on threshold segmentation and continuity of lane line

In this paper, a new threshold segmentation algorithm is proposed for lane line identification. First of all, in the image preprocessing stage, the gray image is binarized by threshold algorithm based on median filter and Flood Fill algorithm. Then, the binary image is input to the line segment detector (LSD) algorithm. Finally, Non-lane markings are removed through geometric characteristics and continuity of lane line. The algorithm has good robustness, real-time performance, success rate and accuracy.