Abstract
A new modular hardware design for an autonomous land vehicle is described, together with a “bootstrap” algorithm, which will initialise the vehicle with respect to its driving corridor. The bootstrap method detects the road's vanishing point by matching plan-view transformed horizontal bands of the road image, and uses the result to realign the vehicle with the road edge if required. Edge detection is used to find parallel lines, in the real world, that pass through the vanishing point and white line detection determine boundaries and the correct road edges
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