This thesis focuses on a complete color image processing sensor. Lane recognition and object detection are the main tasks to be accomplished by the sensor. It is integrated in a sensor fusion environment in use at Group Research, Volkswagen AG together with radar and lidar sensors. The hardware used is a color camcorder linked to a processing unit (PC) via firewire. The chosen approach is to create an internal representation of the environment which is updated between aquired images. Based on this representation the required 3D output is generated, taking into consideration the camera...