这个代码能够比较精确地实现图像中道路区域的分割与提取。-This code addresses this question by

decomposing the road detection process into two steps: the estimation

of the vanishing point associated with the main (straight) part

of the road, followed by the segmentation of the corresponding

road area based upon the detected vanishing point. The main

technical contributions of the proposed approach are a novel

adaptive soft voting scheme based upon a local voting region using

high-confidence voters, whose texture orientations are computed

using Gabor filters, and a new vanishing-point-constrained edge

detection technique for detecting road boundaries.