Recovering the 3D shape of a road by on-board monocular vision

Author

Chausse, F. ; Aufrére, R. ; Chapuis, R.

Author_Institution

LASMEA, Univ. Blaise Pascal, Aubiere, France

Volume

1

fYear

2000

fDate

2000

Firstpage

325

Abstract

Deals with a method designed to recover the 3D geometry of a road from an image sequence provided by an on-board monocular monochromatic camera. It only requires the road edges to be detected in the image. The reconstruction process is able to compute (1) the 3D coordinates of the road axis points, (2) the vehicle´s position on its lane and (3) the prediction of the road edge localization in the next images of the sequence which is very helpful for the detection phase. It also computes the confidence intervals associated with the 3D parameters. The description of the method is followed by the presentation of its most significant results

Keywords

covariance matrices; edge detection; image reconstruction; image sensors; image sequences; road vehicles; 3D geometry; 3D shape recovery; confidence intervals; edge localization; monocular monochromatic camera; on-board monocular vision; road edges; Cameras; Design methodology; Geometry; Image edge detection; Image reconstruction; Image sequences; Phase detection; Roads; Shape; Vehicle detection;

fLanguage

English

Publisher

ieee

Conference_Titel

Pattern Recognition, 2000. Proceedings. 15th International Conference on

Conference_Location

Barcelona

ISSN

1051-4651

Print_ISBN

0-7695-0750-6

Type

conf

DOI

10.1109/ICPR.2000.905343

Filename

905343