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Computation of Road Curvature from a Sequence of Consecutive In-vehicle Images

HU Zhao-zheng;ZHANG Lan;BAI Dong-fang;ZHAO Bin;ITS Research Center,Wuhan University of Technology;School of Information Engineering,Hebei University of Technology;  
A novel method to compute road curvature is proposed by using a sequence of consecutive log images. We first calibrate the in- vehicle camera system and reconstruct road lane lines. The error analysis model is applied to evaluate the reconstructed 3D data points such that only those data points with low reconstruction errors are utilized for curvature computation. The reconstructed curves from consecutive log images are registered with Iterative Closest Point(ICP) algorithm and mapped into a reference coordinate system. The 3D data on the mapped curves are finally used for circle fitting to compute the radius and the curvature. The proposed curvature computation method is tested with real video log images on two different road segments with the corresponding radii of 96 m and 430 m. The computation results demonstrate that the proposed method is both accurate and practical to compute the curvature. Furthermore, it outperforms the single-image based method for slow curvature computation.
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