3D Road Reconstruction from a Single View

摘要

A new algorithm is presented for the local 3D reconstruction of a road from its image plane boundaries. Given, on the same scan line, the images of two boundary points of the road and the tangents to the boundaries at the same two points, the algorithms computes the position in 3D space of the road cross segment that has one of the two points as its end point. The approximations introduced are fully discussed and formulas are given for the determination and comparison of the various source of errors. The algorithm is very fast and has been implemented in real time on the mobile laboratory under development at the author's institution.