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A zero-bank algorithm for inverse perspective of a road from a single image

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1 Author(s)
DeMenthon, D. ; University of Maryland, College Park, MD

A method is presented for reconstructing the 3-D geometry of a road from a single image of the road. This problem has an infinity of solutions unless restrictive hypotheses about geometric characteristics of this road are assumed. The road is modeled as a space ribbon defined by a spine (centerline) and generators (cross-segments) which are horizontal line segments cutting the spine at their midpoint at a normal angle. Properties of two neighboring generators of such a ribbon are examined; if a generator is known, a neighboring generator is completely defined if one of its ends is known. The proposed method uses this property to reconstruct the visible part of the world road, by iteratively finding a series of generators. This method is tested against a simple method which assumes that the ground is flat ("Flat Earth assumption"), and against another method which uses vanishing points.

Published in:

Robotics and Automation. Proceedings. 1987 IEEE International Conference on  (Volume:4 )

Date of Conference:

Mar 1987