Vanishing point detection of unstructured road based on Haar texture
基于Haar纹理的非结构化道路消失点检测

The unstructured road detection is a challenging problem due to the fact that many rural or desert roads are not well-paved, lack prominent lane markers or boundaries. By the constraint of vanishing point, the performance of unstructured road detection can be improved significantly. But the existing vanishing point detection methods based on Gabor filters with multiple scales and multiple orientations have high computational cost, and the disturbance of background always deteriorates their performance. In this paper, we propose a new method for detecting the vanishing point of unstructured road based on Haar texture. By using integral image technique, the complex response of Haar texture is fast calculated according to the carefully designed real and imaginary Haar templates, and then the orthogonal rectification and diversity voting methods are used to realize the vanishing point detection. Compared with the state-of-the-art algorithms in a variety of difficult environments, the experimental results demonstrate the effectiveness and efficiency of the proposed method.