Recovery of 3-D Road Plane Based on 2-D Perspective Image Analysis and Processing

Juping YANG  Shinji OZAWA  

IEICE TRANSACTIONS on Fundamentals of Electronics, Communications and Computer Sciences   Vol.E79-A   No.8   pp.1188-1193
Publication Date: 1996/08/25
Online ISSN: 
Print ISSN: 0916-8508
Type of Manuscript: Special Section PAPER (Special Section on Digital Signal Processing)
road plane,  matching points between road boundaries,  depth information,  road-centered coordinate,  angular parameters,  vanishing point,  

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This paper introduces a new method to recover 3-D road plane from its 2-D monocular perspective image. The research is aimed at the reconstruction of depth information from the 2-D visual input in road following and navigation. Planar road model is considered and the road-centered coordinate system which forms slope and turn angles with camera-centered coordinate system is used to describe boundary points on road plane. We develop approaches to find matching points of boundaries of road and to obtain angular parameters thereafter. A way of finding depth of matching points from the perspective images and angular parameters together is proposed. Therefore the 3-D road reconstruction can be replicated without introducing any parameters of inverse perspective.