vanishing-point
This project built on the opencv simply implemented the methods to find the vanishing point on the road.
References: [1] Rasmussen, Christopher. "Grouping Dominant Orientations for Ill-Structured Road Following." Computer Vision and Pattern Recognition, 2004. CVPR 2004. Proceedings of the 2004 IEEE Computer Society Conference on 2004:I-470-I-477 Vol.1.