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

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