Increased Accuracy Stereo Approach for 3D Lane Detection

A new approach for the stereovision problem is presented, aiming to increase the accuracy of stereo reconstruction. The proposed method is edge-based and consists of the correlation of left and right contours, detected with sub-pixel accuracy. The steps of the stereo matching process are: segmentation of each contour into basic contours (strongly- and weakly-curved), detection of correspondences between left-right image basic contours, and computation with sub-pixel accuracy of the pairs of corresponding left-right edge points. By consequence, one achieves the highest correlation and 3D reconstruction accuracy. 3D lane detection, based on a clothoidal model, is evaluated with the proposed stereo algorithm on synthetic and real world images