Determining the route and roadway condition in front of autonomous vehicle

The article presents results of route detection and roadway conditions in front of autonomous vehicle using machine vision system combining image with light markers creating grid of laser lines. Tracking the roadway parameters is implemented by registering the light markers distortion. Also, an analysis of illuminance effect to green and red laser lines shape detection quality in concrete surface with machine vision is given. The experimental results of the illumination effect on the quality of laser line recognition by machine vision inside industrial premises for a concrete surface are shown. To achieve high-quality recognition, the main variable parameters are recursively changed: image filtering, binary threshold, morphology functions.