A novel algorithm for reconstructing 3-D road geometry from images is presented for the purpose of autonomously navigating land vehicles. The reconstruction is based on an idealized road model: a road is assumed to be generated by a horizontal line segment of a fixed length sweeping in the scene. The constraints that ideal road images must satisfy are expressed as a set of differential equations; the 3-D road geometry is reconstructed by numerically integrating these equations. In order to prevent numerical instability, a correction scheme is proposed for stabilizing computation: at each numerical integration step, the computed solution is modified in such a way that the required constraint is always satisfied. Some examples based on real road images are shown. The inherent ill-posedness of the problem and related technical issues are discussed in detail.


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    Title :

    Reconstruction of 3-D road geometry from images for autonomous land vehicles


    Additional title:

    Rekonstruktion der 3D-Straßengeometrie aus Bildern für fahrerlose Landfahrzeuge


    Contributors:
    Kanatani, K. (author) / Watanabe, K. (author)

    Published in:

    Publication date :

    1990


    Size :

    6 Seiten, 25 Quellen



    Type of media :

    Article (Journal)


    Type of material :

    Print


    Language :

    English




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