Real-time Road Detection with Image Texture Analysis-based Vanishing Point Estimation

ZU Zhaozi; XUE Jianru; CUI Dixiao

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Real-time Road Detection with Image Texture Analysis-based Vanishing Point Estimation

ZU Zhaozi 1,XUE Jianru 2 *,CUI Dixiao 2

1.Electronic and Information Engineer School, Xi\'an Jiaotong University, Xi\'an 710049

2.Electronic and Information Engineer School, Xi'an Jiaotong University, Xi'an 710049

*Correspondence author

#Submitted by

Subject:

Funding: Specialized Research Fund for the Doctoral Program of Higher Education of China under Grant （No.NO. 20090201110029）

Opened online:18 January 2013

Accepted by: none

Citation: ZU Zhaozi,XUE Jianru,CUI Dixiao.Real-time Road Detection with Image Texture Analysis-based Vanishing Point Estimation[OL]. [18 January 2013] http://en.paper.edu.cn/en_releasepaper/content/4506414

Visual perception is a key component of an autonomous vehicle system. Road detection is an essential function of a visual navigation system for an autonomous vehicle. In most cases detecting lane markings is one feasible and efficient approach to road detection. However, in some situation, for example, many rural roads have no lane markings. Furthermore, lacking of sharp, smooth edges and homogeneous surface brings difficulties to road detection. A texture analysis based vanishing point estimation method is used to detect road in this paper. The idea is that consistency in texture leads to the vanishing point in an image. The method uses the Sobel filter to compute the texture orientations. Then the vanishing point of the road is voted from the orientation of the texture. Finally, the vanishing point is used to constrain the searching of two road boundaries since they pass through the vanishing point.

Keywords:Texture orientation; Sobel filter; boundary detection; vanishing point detection

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