Aiming at the problem that the threshold of traditional Canny edge detection algorithm needs to be set artificially and has poor real-time performance

an improved median filtering algorithm combined with weighted average method is proposed to select the threshold. A real-time image edge detection system based on field programmable gate array（FPGA） is designed

which includes three modules

which are video image acquisition

image processing and image display. The experimental results verify the effectiveness of the adaptive threshold edge detection algorithm

and meet the real-time requirements at the same time.