Measurement of distance and height in images based on easy attainable calibration parameters

We present all image to world mapping requiring only a small and easy attainable set of parameters. The mapping provides an inverse perspective transformation, where the parameters required for the mapping can be estimated from a priori known objects or ground plane markings in the image. The world coordinate system is aligned with the projection of the optical axis onto the ground plane, in which the mapped points are assumed to lie. If no distance measurement is required the inverse perspective view can be generated by just specifying the vertical position of the horizon in the image. A modification of the basic mapping allows the determination of object heights if two corresponding vertical image coordinates are given