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Sensors 2016, 16(7), 948;

A Novel Line Space Voting Method for Vanishing-Point Detection of General Road Images

School of Mechanical and Precision Instrumental Engineering, Xi’an University of Technology, Xi’an 710048, China
School of Information Engineering, Xizang Minzu University, XianYang 712082, China
Author to whom correspondence should be addressed.
Academic Editor: Felipe Jimenez
Received: 16 April 2016 / Revised: 16 June 2016 / Accepted: 17 June 2016 / Published: 23 June 2016
(This article belongs to the Special Issue Sensors for Autonomous Road Vehicles)
Full-Text   |   PDF [4315 KB, uploaded 23 June 2016]   |  


Vanishing-point detection is an important component for the visual navigation system of an autonomous mobile robot. In this paper, we present a novel line space voting method for fast vanishing-point detection. First, the line segments are detected from the road image by the line segment detector (LSD) method according to the pixel’s gradient and texture orientation computed by the Sobel operator. Then, the vanishing-point of the road is voted on by considering the points of the lines and their neighborhood spaces with weighting methods. Our algorithm is simple, fast, and easy to implement with high accuracy. It has been experimentally tested with over hundreds of structured and unstructured road images. The experimental results indicate that the proposed method is effective and can meet the real-time requirements of navigation for autonomous mobile robots and unmanned ground vehicles. View Full-Text
Keywords: vanishing point detection; texture orientation; LSD; line space voting vanishing point detection; texture orientation; LSD; line space voting

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Wu, Z.; Fu, W.; Xue, R.; Wang, W. A Novel Line Space Voting Method for Vanishing-Point Detection of General Road Images. Sensors 2016, 16, 948.

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