IPM

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Inverse Perspective Mapping (Bird-eye View)

• Investigate an image where the lane lines are straight and find four points lying along the lines that, after perspective transform, make the lines look straight and vertical from a bird’s-eye view perspective.

• A homography transform, which can be estimated by 4-points correspondence, realize IPM (Inverse Perspective Mapping).

• Given camera calibration parameters (intrinsic and extrinsic), IPM can be derived then.

• IPM (from image to ground) is written as

• PM (from ground to image) is written as

• • Example Result