Accession Number : ADA193090
Title : 3-D Road Structure from Motion Stereo.
Descriptive Note : Technical rept.,
Corporate Author : MARYLAND UNIV COLLEGE PARK CENTER FOR AUTOMATION RESEARCH
Personal Author(s) : Asada, Minoru
PDF Url : ADA193090
Report Date : Apr 1987
Pagination or Media Count : 30
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.
Descriptors : *ROADS, *OPTICAL DETECTION, ACCURACY, AUTOMATION, BOUNDARIES, COMPUTERS, DEPTH, EDGES, ERRORS, ESTIMATES, IMAGES, INPUT, MOTION, QUANTIZATION, RECOVERY, ROBOTS, SEQUENCES, SHAPE, SIMULATORS, THREE DIMENSIONAL, GROUND VEHICLES, CLOSED CIRCUIT TELEVISION, COMPUTER APPLICATIONS
Subject Categories : Optical Detection and Detectors
Distribution Statement : APPROVED FOR PUBLIC RELEASE