Detection of lane boundaries, intersections and obstacles

This paper presents a system of visual object recognition modules which can be used to assist the navigation of a mobile vehicle in outdoor environments, such as streets or freeways. These modules are based on the grouping of edge chains into classes of straight segments and on the segmentation of the image in different regions. Such modules are able to provide relevant information to the driver, such as the boundary of the road, the presence of intersections and of obstacles inside the road bed, thus suggesting their usage in driver´s assistant systems based on computer vision technologies.