检测图像边缘(包括障碍物的边缘，道路边缘)算法

1.?????????????:
https://wenku.baidu.com/view/1693b3a62cc58bd63086bd5b.html

2.Cv?????????:
http://wiki.opencv.org.cn/index.php/Cv%e5%9b%be%e5%83%8f%e5%a4%84%e7%90%86#Canny

3.openCv ??canny??,??canny???????:
http://blog.csdn.net/superdont/article/details/6663910

http://www.cnblogs.com/jqyp/p/0238fbfd07feecd38259cd0ec55d2915.html(????)

4.canny ???????
http://blog.csdn.net/swimmingfish2004/article/details/6863317