Vehicle position estimation for driving pattern recognition using a monocular vision system

The purpose of this paper is to propose a method to estimate the location of the vehicle within a road around a horizontal axis from the bird´s eye perspective. This method uses a road heuristic - the edge length of the road, in order to localize a vehicle within the road. The method aims to determine erratic vehicle steering on roads using a single camera in places where lanes and road discipline is absent. It also proposes a system which could help standardize lane discipline on such driving conditions without the existence of an actual lane.