Estimation of the vanishing point for automatic driving system using a cross ratio
Estimation of the vanishing point for automatic driving system using a cross ratio
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使用交叉比估计自动驾驶系统的消失点
DOI：
10.1002/scj.10090
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发表时间：
2002
期刊：
影响因子：
--
通讯作者：
H. Kitajima
中科院分区：
文献类型：
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作者：
M. Kazui;M. Haseyama;H. Kitajima
本文提出了一种新的方法来估计消失点作为车辆航向，这在自动驾驶系统中至关重要。所提出的方法使用由四个共线点的长度比组成的交叉比来提取形成消失点的边缘。然后，将相交于一点的线拟合到霍夫空间中的边缘。因此，即使车道标记被其他车辆遮挡，消失点也能稳健估计。在存在车道标记的情况下，也会同时估计道路边界。真实道路场景图像的实验结果表明了该方法的有效性。 © 2002 Wiley periodicals, Inc. Syst Comp Jpn, 33(9): 31–40, 2002；在线发表于 Wiley InterScience (www.interscience.wiley.com)。 DOI 10.1002/scj.10090
This paper proposes a new method to estimate the vanishing point used as the vehicle heading, which is essential in automatic driving systems. The proposed method uses a cross ratio comprised of a ratio of lengths from four collinear points for extracting the edges that shape the vanishing point. Then, lines that intersect at one point are fitted to the edges in a Hough space. Consequently, the vanishing point is estimated robustly even when the lane markings are occluded by other vehicles. In the presence of lane markings, the road boundaries are also estimated at the same time. Experimental results from images of a real road scene show the effectiveness of the proposed method. © 2002 Wiley Periodicals, Inc. Syst Comp Jpn, 33(9): 31–40, 2002; Published online in Wiley InterScience (www.interscience.wiley.com). DOI 10.1002/scj.10090