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In this paper we analyze in some detail the geometry of a pair of cameras, i.e. a stereo rig. Contrarily to what has been done in the past and is still done currently, for example in stereo or motion analysis, we do not assume that the intrinsic parameters of the cameras are known (coordinates of the principal points, pixels aspect ratio and focal lengths).(More)
We address the problem of estimating three-dimensional motion, and structure from motion with an uncalibrated moving camera. We show that point correspondences between three images, and the fundamental matrices computed from these point correspondences, are suucient to recover the internal orientation of the camera its calibration, the motion parameters,(More)
We propose a new approach for vision based longitudinal and lateral vehicle control. The novel feature of this approach is the use of binocular vision. We integrate two modules consisting of a new, domain-speciic, eecient binocular stereo algorithm, and a lane marker detection algorithm, and show that the integration results in a improved performance for(More)