Accurate and Robust Vanishing Point Detection Method in Unstructured Road Scenes

摘要

Vanishing point detection is an essential component of vision-based autonomous navigation for unmanned ground vehicles and mobile robots. In this paper, we propose an accurate and robust vanishing point detection method for unstructured road scenes, where the road scenes lack clear road markings and include complex background interference. Since only the road region provides informative clues for vanishing point detection, we first introduce the manifold ranking method to estimate the road region based on background suppression. Then, we develop a series of principles for voter selection, and propose a dynamic adjustment strategy for the candidate selection that reduces the search scope of the vanishing point to perform candidate selection. Finally, we propose an effective voting strategy, in which the candidate that achieves the greatest number of votes in the voting space is considered to be the vanishing point. The experimental results on a large number of unstructured road images show that our proposed method is more accurate and robust than five existing methods.