In this paper we propose a method of detecting lane markings by a side fisheye camera which is mounted at the side of a vehicle and observes the side scene in the FFCVS (Four Fisheye Camera Vision System). Since the side fisheye camera has a wider FOV (Field Of View) than a hemispherical one the whole lane marking at the side may be observed by the fisheye camera and the two vanishing points of straight lane markings may appear in the fisheye image. When a vehicle moves along straight lanes the translation vector of the camera is the same as the direction vector of the straight lanes. In this paper, we first compute the epipoles of a pair of fisheye images by spherical stereo method. Then the epipoles are used as the initial position of the vanishing points of lanes. Finally, the straight lane markings are detected by the estimated position of the vanishing points and the gradient values of edge points of lane markings.
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