A 160-fps Embedded Lane Departure Warning System

In this paper, we discuss a Hough-transform based Lane Departure Warning system implemented on a high performance Texas Instruments´ C6x DSP running at 600MHz. We discuss the DSP implementation aspects and demonstrate how architecture-aware design of highly optimized algorithms can produce a high performance system reaching up to 160 fps on a 720x480 video stream. The implementation was tested on several test video sequences captured using a front facing camera fitted on the front bumper of a car and tested as well as on synthetic videos. We obtained an overall accuracy of 99.1% detection rate with 5% false positives.