Fusion of an uncalibrated camera with velocity information for distance measurement from a moving camera on highways

We present a general method to measure the distance to arbitrary static points from a fairly straight moving camera in the context of highways. We assume that the speed of the camera and vehicle, respectively, can be obtained somehow on board. The proposed approach does not require a calibrated camera and there is no need for an auto-calibration step to determine the cameras intrinsics on-line. To measure the distance to a point it is sufficient to track the point three times over a certain period of time and incorporate the vehicle's velocity. The system does not rely upon principal point and FOE - Focus of Expansion - information.