3D ROAD RECONSTRUCTION FROM A SINGLE VIEW

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 im ages of two boundary points of the road and the tangents to the bounda ries at the same two points, the algorithms computes the position in 3 D space of the road cross segment that has one of the two points as it s end point. The approximations introduced are fully discussed and for mulas are given for the determination and comparison of the various so urce 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, (C) 1998 Academic Press.