RECONSTRUCTION OF 3-D ROAD GEOMETRY FROM IMAGES FOR AUTONOMOUS LAND VEHICLES

被引：19

作者：

KANATANI, K ^{[1
]}

WATANABE, K ^{[1
]}

机构：

[1] NIPPON TELEGRAPH & TEL PUBL CORP, CHIYODA KU, TOKYO 100, JAPAN

来源：

IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION | 1990年 / 6卷 / 01期

关键词：

Image Processing--Reconstruction - Mathematical Techniques--Differential Equations - Vision--Artificial;

D O I：

10.1109/70.88128

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

A novel algorithm for reconstructing 3-D road geometry from images is presented for the purpose of autonomously navigating land vehicles. The reconstruction is based on an idealized road model: a road is assumed to be generated by a horizontal line segment of a fixed length sweeping in the scene. The constraints that ideal road images must satisfy are expressed as a set of differential equations; the 3-D road geometry is reconstructed by numerically integrating these equations. In order to prevent numerical instability, a correction scheme is proposed for stabilizing computation: at each numerical integration step, the computed solution is modified in such a way that the required constraint is always satisfied. Some examples based on real road images are shown. The inherent ill-posedness of the problem and related technical issues are discussed in detail.

引用

页码：127 / 132

页数：6

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