Figure 10.

The red crosses indicate five manually-selected points (left). Points 1–3 are located outside the road plane, while Points 4 and 5 are located on the road plane. These points are matched between Images b–f and reference Image a, all shown in Figure 9. The difference in x-and y-coordinates in pixels between the matched points and the coordinates of the corresponding points in the first image are visualized in (right).