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A Study on Fast and Robust Vanishing Point Detection System Using Fast M-Estimation Method and Regional Division for In-vehicle Camera



Author(s)

Yuki Kondo, Munetoshi Numada, Hiroyasu Koshimizu and Ichiro Yoshida

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DOI:10.17265/2328-2223/2018.02.007

The vanishing point detection technology helps automatic driving. In this paper, the straight lines on the road associated with 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 features associated with 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 features not associated with vanishing point detection were detected. The processing time of the proposed method was faster than the camera frame rate (30 fps). Thus, the proposed method is capable of real-time processing.

Automatic driving, Hough transform, fast M-estimation method, line detection, vanishing point.