Monocular road mosaicing for urban environments

Marking-based lane recognition requires an unobstructed view onto the road. In practice however, heavy traffic often constrains the visual field, especially in urban scenarios such as urban crossroads. In this paper we present a novel approach to road mosaicing for dynamic environments. Our method is based on a multistage registration procedure and uses blending techniques. We show that under modest assumptions accurate registration is possible from monocular image sequences. We further demonstrate that fusing visual information from previous frames into the current view can greatly extend the camera's field of view.