Road scene analysis from perspective image

Road scene analysis from a perspective image plays a very important role in road navigation and road following. It seems, however, a formidable task if the road segments show as curves. In this paper we propose a method to perform an analysis of road segments containing both straight lines and curvatures. The method used is to investigate the features of the corresponding points between the road boundaries with the road modeled as planer surface patches. A constraint existing among Euler angles of viewpoint and the vanishing point related to corresponding points on the road plane is shown. To search for the corresponding points from the perspective image we define a function which by means of the Lagrange multiplier leads to a minimum at the corresponding points. Simulations are conducted on both a straight road segment and a curvature road boundary