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In order to achieve a more simple and efficient detection and processing of the navigation line image, an optimized navigation line image processing method for ARM-based visual navigation AGV is proposed.First, image collected by the camera is grayed and then segmented by Otsu algorithm. Second, the optimized median value filter algorithm is used to denoise and the efficient edge extraction strategy is used to obtain the path edge. Finally, the error points are eliminated by the method of angle judgment, and the central line of the path is synthesized by the least square method. The experimental results show that the method has high accuracy and good real-time performance, and can meet the needs of industry. It is suitable for visual navigation AGV based on embedded system.