Many rural roads lack sharp, smoothly curving edges and a homogeneous surface appearance, hampering traditional vision based road following methods .This paper 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 to find vanishing-point. In this a new vanishing point orientation consistency ratio is used along with spline model. The proposed method has been implemented, and experimented with over hundreds of curved road images.

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