A simple implementation for unmarked road tracking

This paper presents a simple implementation for unmarked road tracking. It is mainly based on the calculation of road vanishing point position relative to the vehicle. An algorithm is derived to calculate the vanishing point location. This algorithm is made robust by introducing solutions to noisy peeks, unbounded vanishing point location, and irrelevant lines. Also, the paper defines a method to solve surrounding environment inconsistency by adaptation of thresholds. The paper shows experimental results on both modeled and real world environments.