Recovering the 3D shape of a road by vision

This paper deals with a method designed to recover the 3D geometry of a road by using an on-boarded monocular monochromatic camera. The reconstruction process is able to compute the 3D coordinates of the road axis points. It needs the camera height with respect to the ground as well as the width of the road to be known. It also requires the detection in the image of the road edges. The paper describes with details this process which can be applied whatever the method used to extract the road sides in the image. We have obtained many results on several kinds of roads. The most significant are presented here to illustrate the method.