Digital image processing and computer vision: an introduction to theory and implementations
Digital image processing and computer vision: an introduction to theory and implementations
Three-dimensional computer vision: a geometric viewpoint
Three-dimensional computer vision: a geometric viewpoint
Epipolar Geometry in Stereo, Motion, and Object Recognition: A Unified Approach
Epipolar Geometry in Stereo, Motion, and Object Recognition: A Unified Approach
Lane detection by orientation and length discrimination
IEEE Transactions on Systems, Man, and Cybernetics, Part B: Cybernetics
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In this paper we follow a practical approach to the problem of camera calibration and image formation in a typical computer vision based traffic monitoring system. Our study starts by analysing in detail the capturing scenario and the undesirable effects resulting from the application of the pinhole camera model to traffic images. Based on the acquired experience, we present an integral method to obtain the transformation matrices required to calibrate the camera and to construct in real time a rectified and sub-sampled image where perspective effects on the road plane have been removed. The motivation for this perspective-free image is to reduce the amount of data which must be computed (while avoiding loss of relevant information), remove influences from objects external to the capturing area and simplify the operation of the subsequent detection and tracking stages. The latter statement is justified since vehicle shapes can now be approximated by rectangles, the distance between any two neighbouring points on the road plane remains constant all over the image, and parallel trajectories are restored in the rectified image.