Vanishing point detection for road detection

Hui Kong 1, 2, 3, 4 Jean-Yves Audibert 1, 3, 4 Jean Ponce 2, 3
1 IMAGINE [Marne-la-Vallée]
LIGM - Laboratoire d'Informatique Gaspard-Monge, CSTB - Centre Scientifique et Technique du Bâtiment, ENPC - École des Ponts ParisTech
3 WILLOW - Models of visual object recognition and scene understanding
DI-ENS - Département d'informatique de l'École normale supérieure, Inria Paris-Rocquencourt, CNRS - Centre National de la Recherche Scientifique : UMR8548
Abstract : Given a single image of an arbitrary road, that may not be well-paved, or have clearly delineated edges, or some a priori known color or texture distribution, is it possible for a computer to find this road? This paper addresses this question by decomposing the road detection process into two steps: the estimation of the vanishing point associated with the main (straight) part of the road, followed by the segmentation of the corresponding road area based on the detected vanishing point. The main technical contributions of the proposed approach are a novel adaptive soft voting scheme based on variable-sized voting region using confidence-weighted Gabor filters, which compute the dominant texture orientation at each pixel, and a new vanishing-point-constrained edge detection technique for detecting road boundaries. The proposed method has been implemented, and experiments with 1003 general road images demonstrate that it is both computationally efficient and effective at detecting road regions in challenging conditions.
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Hui Kong, Jean-Yves Audibert, Jean Ponce. Vanishing point detection for road detection. CVPR 2009 - IEEE Conference on Computer Vision and Pattern Recognition, Jun 2009, United States. pp.96-103, ⟨10.1109/CVPR.2009.5206787⟩. ⟨hal-00834892⟩

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