说明：  通过纹理方向估计消失点，通过消失点来检测道路区域。 该程序应用到了基于纹理的张量投票算法来估计消失点；通过纹理方向和颜色信息，生成用于估计两个最主要道路边界的直方图；最后将道路区域定义为两个检测到的道路边界之间且低于估计的消失点的区域
(The vanishing point is estimated by the texture direction, and the road area is detected by the vanishing point. The program applies a texture-based tensor voting algorithm to estimate the vanishing point; through the texture direction and color information, generates a histogram for estimating the two most important road boundaries; finally defines the road area as two detected road boundaries. An area between and below the estimated vanishing point)