A Model-based Method for Autonomous Land Vehicle Navigation
Identifieur interne : 00E190 ( Main/Merge ); précédent : 00E189; suivant : 00E191A Model-based Method for Autonomous Land Vehicle Navigation
Auteurs : C. WuSource :
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Abstract
A model-based method for reconstructing road edges in 3D space and determining the lateral offset position and the deflected angle of the camera with respect to the road edges from a single image is described. The road edges are modelled as a set of segments which consists of parallel straight lines and concentric circles in 3d space. Each segment is of same orientation. The edge image is then modelled as a set of straight lines and conic curves in image plane. The road is assumed to be a set of flat plane segments. The tilt of the camera and the road width are known. Given a point on one road image edge, the corresponding matching point on the other road image edge can be found for each segment by the methods described in this report. The reconstruction of the road edge in 3D space is straighforward after finding the matching points and by considering that the road width is known. The method is adapted for the flat road even though there is more rapid turn on the road. The method can also be fitted to unflat road. The reconstructed 3D world road finally can be refined by smoothing processing.
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