Abstract
The vanishing point is the converging point at which the road boundaries extend to the distance. It can be used to estimate the road region in a complicated environment. As the vanishing point detection algorithms for the unstructured road often take long time and they could not adapt to the image with complex environment of the road, in this study, the authors propose a vanishing point estimation method based on road boundaries region estimation. This method uses the boundary direction of the voting points in the border region to estimate the vanishing point by the line-soft-voting based on maximum weight. This method has fast calculation speed, and it can overcome the influence of the shadow and the complex environment on the surface of the road in many cases.
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