Restoration of structures along the road from the vehicle camera images to be straight

Abstract

Using bundle adjustment, we have tried to restore structure from images captured by cars running straight. However, due to relation between optical axis and car direction, some corresponding feature pairs, which are extracted from the images, are not suitable to restore the 3D point. Taking geometrical relation between optical axis and car direction into consideration, we have designed a filter which is able to exclude unsuitable corresponding pair. It has experimentaly shown that the designed filter makes restored structure quality better.