Vanishing Point Detection Based on Infrared Road Images for Night Vision Navigation

摘要

Road detection is important in computer vision for autonomous driving, pedestrian detection and other applications. Visible light (VL) camera is often used for daytime road detection, and infrared camera is often used for night road detection. Vanishing point (VP) detection is useful for inferring road region. Many VP detection methods have been proposed and applied successfully in VL road image. However, there is no special VP detection method for infrared road image. In this paper, we propose a VP detection approach for infrared road detection. The novelty of our approach relies on the rational assumption that the regions are very similar along the direction of the true VP. This assumption is involved in finding effective VP voters by using a non-local similarity manner, and these VP voters estimate the VP together. Quantitative and qualitative experiments show the effectiveness and efficiency of the proposed method.