Professional Documents
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21-26, 2002
Department of Surveying, National Technical University of Athens, GR-15780 Athens, Greece (gkarras@central.ntua.gr)
Department of Surveying, Technological Educational Institute of Athens, GR-12210 Athens, Greece (petsa@teiath.gr)
International Archives of Photogrammetry & Remote Sensing, 34(5), pp. 21-26, 2002
yF
c y F
F
2.1 Mathematical Model
(3)
Mounted stably on the roof of the car, the camera records with a
horizontal axis, initially assumed parallel to the road axis. With
the assumptions given above, the equation for estimating lane
width from measurements on the image is very simple. The only
a priori knowledge required is the height of the projective centre
above ground. The basic geometry is seen in Fig. 1, in which O
denotes the perspective center and M is the image center.
ZB
Y
X =
YO
y yF
Yo
(4)
B1 , B2
Z
Figure 1. Recording geometry with horizontal camera axis.
The X axis in space and the x image coordinate axis are normal
to the plane of the Figure. The camera constant is denoted by c,
while yB is the y image coordinate of points B1, B2 on the road
surface defining lane width. If YO is the camera height above
ground level, image scale at the distance ZB is expressed as
c
ZB
yB
YO
x B
(1)
X B
x
X
ycos + csin
YO
y + c
(2)
YO
B1
B2
International Archives of Photogrammetry & Remote Sensing, 34(5), pp. 21-26, 2002
RMS difference
r = 4.7 cm
standard deviation
= 3.8 cm
International Archives of Photogrammetry & Remote Sensing, 34(5), pp. 21-26, 2002
Hx = X
or
a
d
g
b c x1 X1
e f x 2 = X 2
h 1
1 1
(5)
H 0 = 0
0 0
(6)
As mentioned, the orthogonality constraint provides the remaining coefficients of H. Having set coefficients c and f (since they
concern pure translation) to zero, it can be proved that finally:
b c
H = d e f = 0
g h 1 0
f1 /f 2
1
1/f 2
0
1
(7)
M=
m
0
0
0 0
1 0
0 1
H M = MH
(8)
A measured distance along the road axis relates the pixel size of
the rectified image to the ground units in this direction.
However, a direct approach is also possible. Similar to Eq. (6),
the transformation for the finite vanishing point F1 is:
f1 0
H f2 = 1
1 0
(9)
From Eqs. (6) and (9), H may be directly determined in one step
without computing the vanishing line etc.
f1
F1 = f
2
1
F2
1
= 0
0
In case the previous assumption is invalid, i.e. both vanishing points are finite but only one can be identified on the image,
with the above approach ground distances can be measured only
on the specific line of the known reference length. Parallelism
of lines in the direction of the road axis (ground Y-axis) will be
restored, however their scale will not be uniform. The answer to
this can be provided by the construction of a second vanishing
point from two known lengths.
3.2.3 Construction of a second vanishing point As mentioned
already, a second vanishing point is needed to allow affine rectification when the image planes are not parallel to the ground Xaxis. Following Fig. 8, assume two known distances d and p on
ground lines D and P running parallel to the road axis (Y-axis);
on the image they converge to point F1. By exploiting the cross
ratio, from length p one may compute a ground length q = d on
line P. Evidently, these two equal and parallel line segments d
and q define two parallel ground lines. On the image, these lines
define their vanishing point F2 which lies on the horizon.
The above are illustrated in Fig. 9. On the left, an image patch is
rectified from only one vanishing point F1. Parallelism has been
restored only along the y-axis. Extraction of metric information
International Archives of Photogrammetry & Remote Sensing, 34(5), pp. 21-26, 2002
F2
P
I
F1
d
D
Figure 8. Vanishing point F2 from lengths a, b on parallel lines.
a
v
95
110
118
99
115
122
146
103
133
132
156
2D
2
2
2
2
1
2
3
1
2
1
3
v
94
110
117
99
115
122
146
102
132
131
156
2
2
2
2
1
2
3
1
2
1
3
v
95
110
118
100
116
120
146
103
133
132
157
2
2
2
2
1
2
3
1
2
1
3
v
95
109
118
98
116
122
144
103
133
131
155
1
1
2
1
1
2
2
1
1
2
1
The results indicate that the simple approach of affine rectification using one vanishing point and one known distance (under
the assumption that the image plane is parallel to the X-axis of
the road) compare very well with metric data derived from full
2D-2D projective transformation (the validity of which has been
established with GPS measurements).
4. CONCLUDING REMARKS
In this contribution methods have been presented for extracting
metric data form single uncalibrated images (in the specific context of road and traffic scenes). Based on a combination of photogrammetric and computer vision approaches, the methods are
very simple requiring minimal external information (one known
distance) if reasonable assumptions are adopted. In both cases
images are subject to affine deformations, yet 1D measurements
are possible in the properly scaled direction. It has been further
demonstrated that both methods are capable of providing metric
results of satisfactory accuracy.
Of course, important questions still wait to be addressed. For instance, lane width estimation is limited to linear road segments.
International Archives of Photogrammetry & Remote Sensing, 34(5), pp. 21-26, 2002
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