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Method of 3D road model construction based on sensor fusion

In order for multisensor-based mobile robot to maneuver through its environment, it should be able to navigate based on the interpretation about world deduced from its multisensory information. This paper proposes a method to construct 3D road model based on images acquired by color camera and laser radar. In our method, the points of range image correspond to the points of road edges in color images will be decided directly by the transformation between the coordinate systems of color camera and laser radar. By this way, the parallel assumption of road edges, which was required by many conventional methods, is relaxed. From these correspondent points, not only 3D road edges but road region itself including all objects within it all can be decided.