Figure 10
From: Real-time lane departure warning system based on a single FPGA
The drawback of VPPHT in curves. The drawback of vanishing point-based parallel Hough transform in curves. In the original images, red circle means the real vanishing point and green circle means the origin of Hough transform; red lines show the results of Hough transform. (a) shows the correct result of Hough transform when a suitable origin is used. Otherwise, the result is a mistake as shown in (b).