Active contour road model for road iracking and 3D road shape reconstruction

This paper proposes a road representation model that can detect and track road areas from road scenes photographed by monocular cameras and reconstruct 3D shapes of roads. This model can reconstruct road shapes smoothly and accurately while tracking the road boundaries stably with the parallel property of roads as the active or dynamic contour model constraints. Results of tests on 2500 real road scenes using the model reveal stable road area extraction at a level of 96%. (c) 2005 Wiley Periodicals, Inc.