Detection of driving space using Vanishing point estimation

This paper presents an in-vehicle monocular road detection system. The system acquires color images in the input and uses image processing techniques to boost robustness of this algorithm that it is possible to improve it's autonomy and "intelligence" in segmentation of driving space in different road scenes. The road detection algorithm consists of two main steps: vanishing point estimation and road detection. The main idea of driving space detection is based on successful vanishing point estimation. This algorithm was tested under different traffic scenarios (e.g., simply structured highway, complex urban street, varying illumination conditions).