ROAD VERTICAL CONTOUR DETECTION

A driver assistance/control system includes a camera operatively connectable to a processor mountable in a host vehicle. A vertical deviation in road contour is detected while the host vehicle is moving. First, second and third images of the road are captured from the camera. By matching image points of the road in the first image and corresponding image points of the road in the second image, a first homography is computed which transforms the first image of the road to the second image of the road. A second homography is computed which transforms the second image of the road to the third image of the road. A chained homography is computed by chaining the first and second homographies. By using the chained homography as an initial guess, a third homography is computed which transforms the first image of the road to the third image of the road.