Vanishing points estimation and road scene understanding based on Bayesian posterior probability

Abstract

Purpose – This paper aims to present a novel scheme of multiple vanishing points (VPs) estimation and corresponding lanes identification. Design/methodology/approach – The scheme proposed here includes two main stages: VPs estimation and lane identification. VPs estimation based on vanishing direction hypothesis and Bayesian posterior probability estimation in the image Hough space is a foremost contribution, and then VPs are estimated through an optimal objective function. In lane identification stage, the selected linear samples supervised by estimated VPs are clustered based on the gradient direction of linear features to separate lanes, and finally all the lanes are identified through an identification function. Findings – The scheme and algorithms are tested on real data sets collected from an intelligent vehicle. It is more efficient and more accurate than recent similar methods for structured road, and especially multiple VPs identification and estimation of branch road can be achieved and lanes of branch road can be identified for complex scenarios based on Bayesian posterior probability verification framework. Experimental results demonstrate VPs, and lanes are practical for challenging structured and semi-structured complex road scenarios. Originality/value – A Bayesian posterior probability verification framework is proposed to estimate multiple VPs and corresponding lanes for road scene understanding of structured or semi-structured road monocular images on intelligent vehicles.