For Full-Text PDF, please login, if you are a member of IEICE,|
or go to Pay Per View on menu list, if you are a nonmember of IEICE.
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
Publication Date: 1996/08/25
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,
Full Text: PDF(424.6KB)>>
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.