Computer Vision and the IoT-Based Intelligent Road Lane Detection System

Algorithm 1

Canny edge detection Algorithm.

	Step 1:
(i)	Smoothing: Using the Gaussian filter
(ii)	, where
(iii)	, where
	Step 2:
(i)	Gradient magnitude: Sobel or Prewitt
	Step 3:
(i)	Edge direction
	Step 4:
(i)	Resolve Edge Direction
	Step 5:
(i)	Nonmaxima suppression: keep all local maxima in the gradient and remove everything else
(ii)	Gives a thin edge line
	Step 6:
(i)	Double or hysteresis thresholding