标题：
Robust and efficient vanishing point detection in unstructured road scenes for assistive navigation
点击次数：
所属单位：
自动化学院
发表刊物：
Sens. Rev.
摘要：
Purpose: This paper aims to propose a robust and efficient method for vanishing point detection in unstructured road scenes. Design/methodology/approach: The proposed method includes two main stages: drivable region estimation and vanishing point detection. In drivable region estimation stage, the road image is segmented into a set of patches; then the drivable region is estimated by the patch-wise manifold ranking. In vanishing point detection stage, the LSD method is used to extract the straight lines; then a series of principles are proposed to remove the noise lines. Finally, the vanishing point is detected by a novel voting strategy. Findings: The proposed method is validated on various unstructured road images collected from the real world. It is more robust and more efficient than the state-of-the-art method and the other three recent methods. Experimental results demonstrate that the detected vanishing point is practical for vision-sensor-based navigation in complex unstructured road scenes. Originality/value: This paper proposes a patch-wise manifold ranking method to estimate the drivable region that contains most of the informative clues for vanishing point detection. Based on the removal of the noise lines through a series of principles, a novel voting strategy is proposed to detect the vanishing point. © 2018, Emerald Publishing Limited.
ISSN号：
0260-2288
是否译文：
否
发表时间：
2019-01-21
合写作者：
Han, Jiaming,Hu, Guoxiong,W00099,L00153
通讯作者：
杨忠
发表时间：
2019-01-21
学位：工学博士学位
职称：教授
所在单位：自动化学院