Method for detecting e.g. lane markings of lane edge for motor car, involves performing classification in image region of individual images, which are detected by cameras, and in another image region of disparity images

摘要

The method involves detecting a surrounding of a vehicle by a stereo camera arrangement (1). Hypotheses (H1-Hm) for a position and/or a course of boundaries (G) are produced in an image data. The hypotheses are timely tracked in a tracking method. Timely tracked image regions are classified. The classification is performed in one of the image regions of individual images (B1-Bn) i.e. gray value images, which are detected by cameras (1.1, 1.2) of the arrangement, and in the other image region of disparity images (DB1-DBx), which are produced from the data in a stereoscopic image processing.