Three-dimensional road recognition from single two-dimensional image

Author

Yang, Juping ; Ozawa, Shinji

Author_Institution

Dept. of Electr. Eng., Keio Univ., Tokyo, Japan

fYear

1996

fDate

8-9 Apr 1996

Firstpage

101

Lastpage

105

Abstract

A new method to perform three-dimensional road recognition from a single two-dimensional image is proposed. Based on road edges which are characterized by properties of matching points, Euler angles between camera-centered coordinates and edge-centered coordinates can be evaluated and thus the depth information of edge points can be obtained from resultant perspective projections of matching points in the image. In the paper the road segment is assumed as plane and the road width remains invariant, while matching points are defined as edge points with parallel tangent lines which are vertical to the line through the matching points based on the construction of the road. The analysis for the determination of matching points in the image is investigated in detail and a modified algorithm to locate matching points is shown. Experiments are executed on synthetic image data and the results are shown to confirm the validity of the proposed method

Keywords

edge detection; Euler angles; camera-centered coordinates; depth information; edge-centered coordinates; matching points; road edges; road segment; road width; single two-dimensional image; synthetic image data; three-dimensional road recognition; Algorithm design and analysis; Computer vision; Image analysis; Image recognition; Image reconstruction; Image restoration; Image segmentation; Navigation; Parallel processing; Roads;

fLanguage

English

Publisher

ieee

Conference_Titel

Image Analysis and Interpretation, 1996., Proceedings of the IEEE Southwest Symposium on

Conference_Location

San Antonio, TX

Print_ISBN

0-7803-3200-8

Type

conf

DOI

10.1109/IAI.1996.493735

Filename

493735