Real-time lane detection system based on monocular vision and inertial navigation unit

The invention discloses a real-time lane line detecting system based on monocular vision and an inertial navigation unit. The system mainly comprises an offline calibration and online projection change module, an inertial navigation unit module, a single-frame lane line detecting module and a multi-frame lane line cross-linking checking module based on the inertial navigation unit; the system is capable of accurately detecting multi-lane places of pavements in the urban environment; the lane line detecting system can adapt to different road conditions and road types such as illumination variation, barrier obstruction, large curvature, virtual-actual lines and a plurality of lanes; the system is capable of stably detecting and sensing the lane lines in long distance under a plurality of environments. By adopting a navigation device, an image collecting device and a computing platform which are low in cost and low in power consumption, the system is widely applicable to the fields such as visual navigation of pilotless automobiles and vision-assisted driving of intelligent automobiles.