Citation

Kong H, Audibert JY, Ponce J. IEEE Trans. Image Process. 2010; 19(8): 2211-2220.

Copyright

(Copyright © 2010, IEEE (Institute of Electrical and Electronics Engineers))

DOI

10.1109/TIP.2010.2045715

PMID

20371404

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 a local voting region using high-confidence voters, whose texture orientations are computed using Gabor filters, 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 effective at detecting road regions in challenging conditions.

Language: en