This paper presents a new method for reconstructing the 3-D structure of road boundaries from consecutive images. First, we present a method for estimating depth information by applying a motion stereo method to consecutive images, given an estimate of the interframe motion. The relation between depth, motion and disparity is investigated, since the accuracy of the depth depends on the disparity range. Next, the error of the estimated road structure due to quantization errors and motion estimation errors is examined. Finally, a representation for road boundaries is proposed that makes explicit the error of the road edge location in 3-D space. Experimental results are shown for an input image sequence taken by the ALV(Autonomous Land Vehicle) simulator robot in the Center for Automation Research at the Univ. of Maryland.


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    Title :

    3-D Road Structure from Motion Stereo


    Contributors:
    M. Asada (author)

    Publication date :

    1987


    Size :

    30 pages


    Type of media :

    Report


    Type of material :

    No indication


    Language :

    English




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