3-D Road Structure from Motion Stereo.

Abstract

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. Keywords: Three-dimensional shape recovery; Computer vision.

Open PDF

Document Details

Document Type
Technical Report
Publication Date
Apr 01, 1987
Accession Number
ADA193090

Entities

People

  • Minoru Asada

Organizations

  • University of Maryland

Tags

Communities of Interest

  • Air Platforms
  • Autonomy
  • Sensors

DTIC Thesaurus Topics

  • Abstracts
  • Accuracy
  • Automation
  • Base Lines
  • Boundaries
  • Calibration
  • Classification
  • Computer Stereo Vision
  • Computer Vision
  • Coordinate Systems
  • Errors
  • Security
  • Sequences
  • Simulations
  • Simulators
  • Three Dimensional
  • Universities

Readers

  • Computer Vision.

Technology Areas

  • AI & ML
  • AI & ML - Autonomous Systems
  • AI & ML - Bayesian Inference
  • Autonomy
  • Space
  • Space - Spacecraft Maneuvers