document: Estimation of the vanishing point for automatic driving system using a cross ratio 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
doc_bio_tags: O O O O O O B I I O O B I O O O O O O O O O O O O O O O O O O O O O B I I O O O O O O B I O O O O O O O O B I O O O O O O O O O O O O O O O O O O O O O O O O O B I O O O O O O O O O O O O B I O O O O O O O O O O B I O O O O O O O O O O O O O O O O O O B I I O O O O O O O
extractive_keyphrases: automatic driving system cross ratio automatic driving systems collinear points hough space lane markings real road scene
abstractive_keyphrases: vanishing point estimation