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Robust and efficient vanishing point detection in unstructured road scenes for assistive navigation.

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Title: Robust and efficient vanishing point detection in unstructured road scenes for assistive navigation.
Authors: Han, Jiaming1,2,3 hjm@nuaa.edu.cn, Yang, Zhong1,2,3 YZ.NUAA@163.com, Hu, Guoxiong1,2,3 76912412@qq.com, Fang, Ting1,2,3 420739229@qq.com, Xu, Hao1,2,3 37375061@qq.com
Source: Sensor Review. 2019, Vol. 39 Issue 1, p137-146. 10p.
Subjects: Computer vision, Image processing, Roads, Robot vision, Detectors
Abstract: Purpose This paper aims to propose a robust and efficient method for vanishing point detection in unstructured road scenes.Design/methodology/approach The proposed method includes two main stages: drivable region estimation and vanishing point detection. In drivable region estimation stage, the road image is segmented into a set of patches; then the drivable region is estimated by the patch-wise manifold ranking. In vanishing point detection stage, the LSD method is used to extract the straight lines; then a series of principles are proposed to remove the noise lines. Finally, the vanishing point is detected by a novel voting strategy.Findings The proposed method is validated on various unstructured road images collected from the real world. It is more robust and more efficient than the state-of-the-art method and the other three recent methods. Experimental results demonstrate that the detected vanishing point is practical for vision-sensor-based navigation in complex unstructured road scenes.Originality/value This paper proposes a patch-wise manifold ranking method to estimate the drivable region that contains most of the informative clues for vanishing point detection. Based on the removal of the noise lines through a series of principles, a novel voting strategy is proposed to detect the vanishing point. [ABSTRACT FROM AUTHOR]
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Database: Engineering Source
Description
Abstract:Purpose This paper aims to propose a robust and efficient method for vanishing point detection in unstructured road scenes.Design/methodology/approach The proposed method includes two main stages: drivable region estimation and vanishing point detection. In drivable region estimation stage, the road image is segmented into a set of patches; then the drivable region is estimated by the patch-wise manifold ranking. In vanishing point detection stage, the LSD method is used to extract the straight lines; then a series of principles are proposed to remove the noise lines. Finally, the vanishing point is detected by a novel voting strategy.Findings The proposed method is validated on various unstructured road images collected from the real world. It is more robust and more efficient than the state-of-the-art method and the other three recent methods. Experimental results demonstrate that the detected vanishing point is practical for vision-sensor-based navigation in complex unstructured road scenes.Originality/value This paper proposes a patch-wise manifold ranking method to estimate the drivable region that contains most of the informative clues for vanishing point detection. Based on the removal of the noise lines through a series of principles, a novel voting strategy is proposed to detect the vanishing point. [ABSTRACT FROM AUTHOR]
ISSN:02602288
DOI:10.1108/SR-02-2018-0024