Fast and robust-vanishing point detection system using fast M-estimation method and regional division for in-vehicle camera

摘要

The vanishing point detection technology helps automatic driving. In this study, the straight lines on a road for the clue of the vanishing point are extracted efficiently by using the regional division and angle limitation. And, the vanishing point is detected robustly by using the fast M-estimation method. Proposed method could detect straight line ingredient tied to the vanishing point detection efficient on the road. And the vanishing point was detected exactly by the effect of the fast M-estimation method when the straight line ingredient which was not tied to the vanishing point detection was detected.