Vanishing point detection of unstructured road based on two-line exhaustive search

Abstract

With the continuous exploration of unmanned technology in recent years, techniques for road vanishing point detection have emerged, mainly including the exhaustive searching based methods, RANSAC based methods and expectation maximization (EM) based methods. This paper propose an exhaustive searching and RANSAC based algorithm called vanishing point detection which is capable of detecting vanishing point in road images. Our proposed algorithm first uses the LSD algorithm to determine the vanishing point in the road and detects the line segments in the filtered image; then we detect the candidate vanishing points (referred to as VPs) and determine the final VPs by mapping the candidate VPs to the sphere. Compared with other algorithms on more than 120 test images, the error of our method is within 5%. The effectiveness of our approach is demonstrated by quantitative and qualitative experimental results. And our approach offers a new and effective algorithm to image recognition of driverless technology.