Abstract
The paper proposes a method of extracting road information from a single side fisheye image of road pattern that includes lane marking and stop line marking. By using the cues of the vanishing points of the lane markings and the stop line markings, road surface and camera pose can be estimated.The region of road surface can be further used for discarding the false candidates of lane marking found from the buildings standing along the route by the Hough transform. The camera pose can be used to generate a perspective display of the blind point or a top-view for the detection of lane departure. The experimental results show the effectiveness of this method.