An adaptive road ROI determination algorithm for lane detection

Road conditions can provide important information for driving safety in driving assistance system. The input images usually include unnecessary information and road conditions need to be analyzed only in a region of interest (ROI) to reduce the amount of computation. In this paper, a vision-based road ROI determination algorithm is proposed to detect the road region using the positional information of a vanishing point and line segments. The line segments are detected using Hough Transform. The road ROI can be determined automatically and adaptively in every frame. The proposed method is applied to various video images from black boxes, and is verified to be robust.