Abstract
In this paper, we propose a method to solve the general problem of road tracking and 3D-shape reconstruction for a smart vehicle. The method assumes that the road boundaries are parallel and that the width of the road is constant. We then detect and track the road region in the image using active contour models subject to a parallelism constraint. The system then generates a 3D-road model from a single image. We evaluate the effectiveness of the method by applying to real road scenes comprising more than 2000 images.