Recovery of 3-D Road Plane Based on 2-D Perspective Image Analysis and Processing (Special Section on Digital Signal Processing)

概要

論文の詳細を見る
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.
社団法人電子情報通信学会の論文
1996-08-25