Camera Calibration for Road Applications

Multiple Condensation filters for road detection and tracking

“…where R x c is (25), and f N ða; b; RÞ; a; b 2 R M ; is the evaluation function of a Gaussian density having the following form:…”

“…Some used straight lines to model the road [18] while others employed more complex models such as cubic B-Splines [19,20], clothoid [21][22][23], parabola [24], and hyperbola [25][26][27].…”

An extended hyperbola model for road tracking for video-based personal navigation

“…The other asymptote is on the horizon (u VP , v VL ) where the two asymptotes intersect. b is linearly related to the road curvature C 0 in the 3D world [17]. v VL is the v coordinate of the horizon which has been determined in the previous section.…”

“…Some used straight lines to model the road [13] while others employed more complex models such as cubic B-Splines [14,15], parabola [16], hyperbola [17,18] and clothoid [19][20][21]. For example, Southall and Taylor [19] describe a collision warning system in which the road is modelled as a clothoid, approximated by a polynomial, in order to deal with road curvature and changes of curvature.…”

Robust Road Modeling and Tracking Using Condensation

“…V ISION-BASED intelligent road-navigation applications often represent the road as a mathematical model, such as a cubic B-spline [1], [2], clothoid [3], [4], parabola [5], and hyperbola [6], [7]. These models are then instantiated with features extracted from images of the road, such as corners [8], edges [9], ridges [10], color [11], [12], texture [13], [14], and hybrid features [15], [16].…”