Image-based dynamic measurement for vehicle steering control

Parametric Model of the Perspective Projection of a Road with Applications to Lane Keeping and 3D Road Reconstruction

“…Most authors, however, do make use of the position of the lane borders on a single image or on a sequence. The vanishing point and the position of the borders of a straight horizontal road on the bottom rows of a single image are used by Yeh et al [4] to determine the heading direction and the lateral position of the vehicle. For a curved horizontal road, Yokoyama and coauthors [5] computed the road curvature assuming that the position and heading of the vehicle was known from magnetic sensors.…”

“…For a curved horizontal road, Yokoyama and coauthors [5] computed the road curvature assuming that the position and heading of the vehicle was known from magnetic sensors. By applying the formula of [4] to all the points of a horizontal road border and to their tangents, on a sequence of images, and by making use of sequential estimation (Kalman) techniques, Hsu et al [6] determined the lateral position of the vehicle, its heading direction, the time derivatives of the above quantities, and the road curvature.…”