Work vehicle

A work vehicle configured to work while traveling, provided with a traveling machine and a working machine, comprising:

• a first image-capturing device configured to capture peripheries of the traveling machine;
• and
• a controlling unit configured to control the traveling machine to travel autonomously along a boundary line showing traces of work consecutively formed by the working machine,
• wherein the controlling unit includes
• a boundary-detecting unit configured to detect the boundary line by processing an image captured by the first image-capturing device, and
• a traveling-controlling unit configured to control traveling directions of the traveling machine so as to be along the boundary line detected by the boundary-detecting unit,
• wherein the boundary-detecting unit is configured to
• generate intensity distribution information regarding texture information in a predetermined direction by filtering with a Gabor filter on the image captured by the first image-capturing device,
• carry out statistical processing on the intensity distribution information per inspection area divided in plural in a vertical direction so as to detect boundary points, and
• detect the boundary line from the boundary points per the inspection area.