This implementation of lane and obstacle detection for an autonomous, self-guided vehicle succeeds by tailoring vision and computational techniques to an affordable SIMD architecture. The authors use a geometrical transform called inverse perspective mapping (IPM). Using a priori knowledge of both the scene and the acquisition device, the IPM technique allows one to remove the perspective effect and produce a new image in which the information content is homogeneously distributed among all pixels. In the remapped image, the amount of information carried by each pixel no longer depends on the pixel's position, making the SIMD approach practical
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