Degenerate Near-Planar 3D Reconstruction from Two Overlapped Images for Road Defects Detection

This paper presents a technique to reconstruct a three-dimensional (3D) road surface from two overlapped images for road defects detection using a downward-facing camera. Since some road defects, such as potholes, are characterized by 3D geometry, the proposed technique reconstructs road surfaces from the overlapped images prior to defect detection. The uniqueness of the proposed technique lies in the use of near-planar characteristics of road surfaces` in the 3D reconstruction process, which solves the degenerate road surface reconstruction problem. The reconstructed road surfaces thus result from the richer information. Therefore, the proposed technique detects road surface defects based on the accuracy-enhanced 3D reconstruction. Parametric studies were first performed in a simulated environment to analyze the 3D reconstruction error affected by different variables and show that the reconstruction errors caused by the camera's image noise, orientation, and vertical movement are so small that they do not affect the road defects detection. Detailed accuracy analysis then shows that the mean and standard deviation of the errors are less than 0 . 6 mm and 1 mm through real road surface images. Finally, on-road tests demonstrate the effectiveness of the proposed technique in identifying road defects while having over 94% in precision, accuracy, and recall rate.