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This paper proposes a method to measure the position of the view point of single camera on a straight passage with constraint conditions of the inclination of the boundary lines. Taking account of the conditions, this method obtains the vanishing point and the perspective translated boundary lines from the 2D-image directly without the binalization processing, and shows good results for the vehicle navigation in the case that the disturbances exist on the passage.

A Position Measurement of View Point on Straight Passage with Constraint of Inclination of Boundary Lines