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Fast and Accurate Vanishing Point Detection and Its Application in Inverse Perspective Mapping of Structured Road
Weibin Yang1; Bin Fang2; Yuan Yan Tang3
2018-05
Source PublicationIEEE Transactions on Systems, Man, and Cybernetics: Systems
ISSN2168-2216
Volume48Issue:5Pages:755-766
Abstract

Fast and accurate visual scene understanding in autonomous vehicles is necessary but still very challenging. An autonomous vehicle must be taught to read the road like a human driver for better controlling the vehicle, so it is important to efficiently detect the road area and road markings. In this paper, we mainly focus on the vanishing point detection and its application in inverse perspective mapping (IPM) for road marking understanding. We first propose a fast and accurate vanishing point detection method for various types of roads, by adopting and improving Weber local descriptor to obtain salient representative texture and orientation information of the road area, and then voting for the dominant vanishing point with a simple line-voting scheme. Experimental results demonstrate that the proposed vanishing point detection approach gains a better performance than some state-of-the-art methods in terms of accuracy and computation time. Furthermore, we introduce the detected vanishing point into the IPM algorithm in the structured road environment, since some important calibration parameters can be automatically calculated by the vanishing point, especially on the rough road. Experiments also show that our proposed vanishing point-based IPM method is adaptive and accurate, which is conducive to the subsequent road marking detection and recognition.

KeywordAutonomous Vehicle Inverse Perspective Mapping (Ipm) Vanishing Point Weber's Law
DOIhttps://doi.org/10.1109/TSMC.2016.2616490
URLView the original
Indexed BySCI
Language英语
WOS Research AreaAutomation & Control Systems ; Computer Science
WOS SubjectAutomation & Control Systems ; Computer Science, Cybernetics
WOS IDWOS:000429967100009
PublisherIEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
The Source to ArticleWOS
Fulltext Access
Citation statistics
Cited Times [WOS]:12   [WOS Record]     [Related Records in WOS]
Document TypeJournal article
CollectionDEPARTMENT OF COMPUTER AND INFORMATION SCIENCE
Corresponding AuthorWeibin Yang; Bin Fang; Yuan Yan Tang
Affiliation1.College of Automation, Chongqing University, Chongqing 400044, China
2.College of Computer Science, Chongqing University, Chongqing 400044, China
3.Department of Computer and Information Science, University of Macau, Macau 999078, China
Corresponding Author AffilicationUniversity of Macau
Recommended Citation
GB/T 7714
Weibin Yang,Bin Fang,Yuan Yan Tang. Fast and Accurate Vanishing Point Detection and Its Application in Inverse Perspective Mapping of Structured Road[J]. IEEE Transactions on Systems, Man, and Cybernetics: Systems,2018,48(5):755-766.
APA Weibin Yang,Bin Fang,&Yuan Yan Tang.(2018).Fast and Accurate Vanishing Point Detection and Its Application in Inverse Perspective Mapping of Structured Road.IEEE Transactions on Systems, Man, and Cybernetics: Systems,48(5),755-766.
MLA Weibin Yang,et al."Fast and Accurate Vanishing Point Detection and Its Application in Inverse Perspective Mapping of Structured Road".IEEE Transactions on Systems, Man, and Cybernetics: Systems 48.5(2018):755-766.
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