A Robust Lane Detection Method Based on Vanishing Point Estimation Using the Relevance of Line Segments.

In this paper, a robust lane detection method based on vanishing point estimation is proposed. Estimating a vanishing point can be helpful in detecting lanes, because parallel lines converge on the vanishing point in a projected 2-D image. However, it is not easy to estimate the vanishing point correctly in an image with a complex background. Thus, a robust vanishing point estimation method is pro...